Vibratory manipulation is any mode of manipulation involving repeated impacts due to a striker which follows some periodic motion. In this paper, we study vibratory manipulation in the context of tapping planar objects which slide on a fixed support surface. We are interested in the behaviors an object exhibits under such excitation. There are two distinct types of tapping that can result: cont...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

The aim of this paper is to validate a virtual reality (VR) environment for the analysis of the sensorimotor processes underlying learning of object grasping and manipulation. This study was inspired by recent grasping studies indicating that subjects learn skilled manipulation by concurrently modulating digit placement and forces as a function of the position of object center of mass (CM) in a...

In this paper we introduce an online object manipulation system for the NAO robot that is able to detect and grasp an object out of a human hand and then give it back in real-time. Known objects are rendered from 3D models and detected stereo contour-based by using a new stereo vision head for NAO. In order to grasp objects, motion trajectories are generated by an A* planner while avoiding obst...

This paper describes formulation and management of constraints, and a nonlinear optimization algorithm that together enable interactive geometrically aware manipulation of articulated objects. Going beyond purely kinematic or dynamic approaches, our solution method directly employs geometric constraints to ensure noninterpenetration during object manipulation. We present the formulation of the ...

Object manipulation techniques in robotics can be categorized in two major groups including manipulation with grasp and manipulation without grasp. The original aim of this paper is to develop an object manipulation method where in addition to being grasp-less, the manipulation task is done in a passive approach. In this method, linear and angular positions of the object are changed and its man...

Humans excel in manipulation tasks, a basic skill for our survival and a key feature in our manmade world of artefacts and devices. In this work, we study how humans manipulate simple daily objects, and construct a probabilistic representation model for the tasks and objects useful for autonomous grasping and manipulation by robotic hands. Human demonstrations of predefined object manipulation ...

In this paper, a teleoperated nano scale object manipulation system is proposed, and requirements of such systems are defined. The system consists of a user interface utilizing visual and haptic displays (macro world), nano-manipulator, controller and sensors (nano world), and teleoperation control and rough to fine imaging and actuation tools (between macro and nano worlds). A home-made Atomic...

User interfaces that allow the direct manipulation of conceptu al objects with adequate semantic feedback are not su ciently supported by the user interface tools of today We have designed a layered archi tecture for user interface objects based upon the de nition of a three di mensional object space for object manipulation In this space the usual user centered events are replaced by a logical ...