Three experiments were conducted to investigate the control of the manipulation (i.e., finger-thumb aperture) and transportation (i.e., wrist velocity) components in prehensile movement (Jeannerod, 1981, 1984). In all experiments, subjects were seated and instructed to grasp a dowel mounted on a joystick following a discrete movement over a set distance. Thus, the amount of dowel movement follo...

The authors explored application of analytical inverse optimization (ANIO) method to the normal finger forces in unimanual and bimanual prehensile tasks with discrete and continuously changing constraints. The subjects held an instrumented handle vertically with one or two hands. The external torque and grip force changed across trials or within a trial continuously. Principal component analysi...

A modified "Klüver" or dexterity board was developed to assess fine control of hand and digit movements by nonhuman primates during the acquisition of small food pellets from wells of different diameter. The primary advantages of the new device over those used previously include standardized positioning of target food pellets and controlled testing of each hand without the need for restraints, ...

In this paper, we define semi-holonomic controllability (SHC) and a general task and motion planning framework. We give a perturbation algorithm that can take a prehensile task and motion planning (PTAMP) domain and create a jointly-controllable-open (JC-open) variant with practically identical semantics. We then present a decomposition-based algorithm that computes the reachability set of a pr...

During pick and place tasks, a mobile manipulator performs recurring relative moves within the close proximities of the object of interest and the destination independent of their global poses. These moves are usually critical to the success of the manipulation attempt and hence need to be executed delicately. Considering the critical yet recurring nature of these moves, we let the robot memori...

ADSTRA CT. The study of the human hand in prehensile movements can offer insights into the design of robot grasp planners. A design for a two-level llierarchical grasp planner is presented. The first phase maps an object and task representation into a grasporiented description of the task The second phase maps this description into an opposition space, which captures the available foices and de...

We present a method for fast and accurate physics-based predictions during non-prehensile manipulation planning control. Given an initial state sequence of controls, the problem predicting resulting states is key component variety model-based control algorithms. propose combining coarse (i.e. computationally cheap but not very accurate) predictive physics model, with fine expensive to generate ...

The task of inducing, via continuous static state-feedback control, an asymptotically stable heteroclinic orbit in a nonlinear control system is considered this paper. main motivation comes from the problem ensuring convergence to so-called point-to-point maneuver underactuated mechanical system. Namely, smooth curve its state--control space, which consistent with dynamics and connects two (lin...