This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

Analysis of the manipulation strategies employed by upper-limb prosthetic device users can provide valuable insights into shortcomings current technology or therapeutic interventions. Typically, this problem has been approached with survey lab-based studies, whose prehensile-grasp-focused results do not necessarily give accurate representations daily activity. In work, we capture prosthesis-use...

this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...

We want our robots to work in human environments. However, human environments are cluttered and clutter creates problems for robotic manipulation. We propose to develop a framework for manipulation in highly cluttered environments. We propose to rearrange the environment using prehensile and non-prehensile actions. We present our preliminary work, a framework in which a high-level rearrangement...

A study of the platyrrhine prehensile tail provides an opportunity to better understand how ecological and biomechanical factors affect the ability of primates to distribute mass across many different kinds of arboreal supports. Young individuals experience ontogenetic changes in body mass, limb proportions, and motor skills that are likely to exert a strong influence on foraging strategies, so...

Multifingered robotic hands are attempts to approximate human hand characteristics and functionality, and it is reasonable to consider their possible adaptation and use in prosthetics and rehabilitation. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system that translates task-level commands into motor commands. Our system, PRESHAPE, uses the virtual ...

We investigate pneumatic non-prehensile manipulation (i.e., blowing) as a means of efficiently moving scattered objects into target receptacle. Due to the chaotic nature aerodynamic forces, blowing controller must (i) continually adapt unexpected changes from its actions, (ii) maintain fine-grained control, since slightest misstep can result in large unintended consequences (e.g., scatter alrea...

The evolution of the prehensile tail illustrates the impact habitat can have on structural traits. Prehensile primates are able to support their entire body weight using only their tail, which opens up new feeding opportunities in their arboreal environments. This trait evolved separately in two families of New World monkeys. A transitional behaviour in its proposed evolutionary mechanism is ta...