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Complex object manipulation with hierarchical optimal control

Alex Simpkins, Emanuel Todorov
2011 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning (ADPRL)  
This paper develops a hierarchical model predictive optimal control solution to the complex and interesting problem of object manipulation.  ...  Controlling an object through external manipulators is challenging, involving nonlinearities, redundancy, high dimensionality, contact breaking, underactuation, and more.  ...  Trajectory tracking in object manipulation D. Contact breaking and continuous motions V. CONCLUSION Object manipulation using multiple manipulators is a complex problem.  ... 
doi:10.1109/adprl.2011.5967393 dblp:conf/adprl/SimpkinsT11 fatcat:hcscay75gbdorkwxelmoqkvjhi

Rhythmic Manipulation of Objects with Complex Dynamics: Predictability over Chaos

Bahman Nasseroleslami, Christopher J. Hasson, Dagmar Sternad, Jörn Diedrichsen
2014 PLoS Computational Biology  
This study investigated a rhythmic manipulation task, which involved continuous interaction with a nonlinear object that led to unpredictable object behavior.  ...  These solutions were associated with higher average exerted force and lower object smoothness, contradicting common expectations from studies on discrete object manipulation and unrestrained movements.  ...  Even though such complex manipulation of objects and tools are ubiquitous in human behavior, our understanding of how humans achieve dexterity in complex object manipulation tasks is still limited.  ... 
doi:10.1371/journal.pcbi.1003900 pmid:25340581 pmcid:PMC4207605 fatcat:zlykulm6gjczngaj5rtsrih55a

Predictability and Robustness in the Manipulation of Dynamically Complex Objects [chapter]

Dagmar Sternad, Christopher J. Hasson
2016 Advances in Experimental Medicine and Biology  
Manipulation of complex objects and tools is a hallmark of many activities of daily living, but how the human neuromotor control system interacts with such objects is not well understood.  ...  Even the seemingly simple task of transporting a cup of coffee without spilling creates complex interaction forces that humans need to compensate for.  ...  Previous Research on Complex Object Manipulation Previous research on human control of dynamically complex objects has adopted a variety of theoretical perspectives that, as a whole, still present a rather  ... 
doi:10.1007/978-3-319-47313-0_4 pmid:28035560 pmcid:PMC5516908 fatcat:vcljgzw2srhtnailhioho3qqxq

Object Isolation with Minimal Impact Towards the Object of Interest in a Complex Environment using Manipulation Primitives

2019 International journal of recent technology and engineering  
It is common in the field of robotic manipulation to specifically target and precisely move, displace or manipulate the targeted object of interest.  ...  This however may not always be the best possible course of action as there are situations where it is not possible to manipulate the object of interest or is not in a condition to be manipulated.  ...  Object Isolation with Minimal Impact towards the Object of Interest in a Complex Environment Using Manipulation Primitives This thus becomes a challenge when devising a method to isolate the object of  ... 
doi:10.35940/ijrte.c1041.1083s219 fatcat:vmtxhq3nwvdutnosbu5srdrbhq

Push-manipulation of complex passive mobile objects using experimentally acquired motion models

Tekin Meriçli, Manuela Veloso, H. Levent Akın
2014 Autonomous Robots  
the objects, and the robot as the variety of objects to be manipulated increases.  ...  We present an experience-based push-manipulation approach that enables the robot to acquire experimental models regarding how pushable real world objects with complex 3D structures move in response to  ...  -Our objects have complex 3D structures.  ... 
doi:10.1007/s10514-014-9414-z fatcat:yqahjlwqercrrdaijcvdu5nlhy

The Utility of Evolving Simulated Robot Morphology Increases with Task Complexity for Object Manipulation

Josh Bongard
2010 Artificial Life  
The utility of evolving simulated robot morphology increases with task complexity for object manipulation. Artificial Life, uncorrected proof.  ...  This work provides two new lines of evidence for why this co-optimization is useful: Here we show that for an object manipulation task in which a simulated robot must accomplish one, two, or three objectives  ...  This indicates that as task complexity increases (where task complexity is defined as the number of objectives that the robot must accomplish simultaneously), the benefit of evolving morphology becomes  ... 
doi:10.1162/artl.2010.bongard.024 pmid:20059328 fatcat:odu4m7enjbbt5chfm7esimvuaq

Central control of grasp: Manipulation of objects with complex and simple dynamics

Theodore E. Milner, David W. Franklin, Hiroshi Imamizu, Mistuo Kawato
2007 NeuroImage  
We performed whole-brain fMRI to explore the neural mechanisms that contribute to the ability to manipulate an object with complex dynamics.  ...  Subjects grasped a weighted flexible ruler and balanced it in an unstable equilibrium position as an archetype of grasping an object with complex dynamics.  ...  with simple dynamics and an object with complex dynamics.  ... 
doi:10.1016/j.neuroimage.2007.01.057 pmid:17451973 fatcat:g6carmhxqzhdve3vzdwtg4n4wa

A nested-graph model for the representation and manipulation of complex objects

Alexandra Poulovassilis, Mark Levene
1994 ACM Transactions on Information Systems  
Motivated by the previous research outlined above, we have developed a graph-based data model called the Hypernode Model which supports object identity and arbitrarily complex objects, and which is well-suited  ...  -based query and update language, object store. browsing.  ...  Conversely, object-oriented databases start off with a semantic data model [16, 20, 31] , which typically supports object identity, inheritance and complex objects, and extend it with features such as  ... 
doi:10.1145/174608.174610 fatcat:zehzvvrg6vcjhjtgdjx47jegqu

Efficient 3D Object Detection by Fitting Superquadrics to Range Image Data for Robot's Object Manipulation

Georg Biegelbauer, Markus Vincze
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
The daily-life objects are modeled using approximated Superquadrics, which can be obtained from showing the object or another modeling process.  ...  Criteria for object shape and the relationship of object parts together with a ranking procedure and a ranked voting process result in a combined ranking of hypothesis using a minimum number of parameters  ...  Furthermore, keeping the set of model parameters low, it is not possible to model complex shaped object with a single Superquadric or a set of Superquadrics with global deformations.  ... 
doi:10.1109/robot.2007.363129 dblp:conf/icra/BiegelbauerV07 fatcat:jsw6eeflnng6lbko3gd2q7llmm

Efficient 2D Detection and Positioning of Complex Objects for Robotic Manipulation Using Fully Convolutional Neural Network

Dominik Štursa, Daniel Honc, Petr Doležel
2021 Advances in Science, Technology and Engineering Systems  
The proposed approach is tested on a complex detection and positioning problem by evaluation of total accuracy.  ...  Firstly, the captured scene, containing attentive objects, is transformed using a segmentation neural network.  ...  Generally, a "pick and place" task consists of a robotic manipulator (or group of manipulators) able to pick a particular object of attention and place it in a specific location with defined orientation  ... 
doi:10.25046/aj0602104 fatcat:g3gbosz3rjafdeujem5bm2fzti

EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

Charalambos Konnaris, Constantinos Gavriel, Andreas A.C. Thomik, A. Aldo Faisal
2016 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
in-hand object manipulation.  ...  Therefore, we focused on the development of a novel thumb and palm articulation that would facilitate in-hand object manipulation while avoiding mechanical design complexity.  ...  Human hand evolution drove our ability for complex manipulation of objects held within our hand, enabling object manipulation far beyond grasping mastered by other primates.  ... 
doi:10.1109/biorob.2016.7523787 dblp:conf/biorob/KonnarisGTF16 fatcat:rsyzmqplh5djzcppkm6wif6qom

Blind Grasp and Manipulation of a Rigid Object by a Pair of Robot Fingers with Soft Tips

Morio Yoshida, Suguru Arimoto, Ji-Hun Bae
2007 Engineering of Complex Computer Systems (ICECCS), Proceedings of the IEEE International Conference on  
The result is further extended to the case of 3-D object grasping and manipulation by a pair of soft fingers, one of which can move in 3-D space.  ...  This paper is concerned with construction of a mathematical model for a class of lumped-parameter dynamics of a pair of robot fingers with soft and deformable tips pinching a rigid object.  ...  FrE4.5 securely and manipulate it towards an equilibrium state of force/torque balance.  ... 
doi:10.1109/robot.2007.364204 dblp:conf/icra/YoshidaAB07 fatcat:jfkibivlbvhpfkpztlodqlspee

Training a Robot Manipulator to Visually Recognize Feasible Grasps of Complex Objects on a Plane using Supervised Learning of Self-Organizing Maps [article]

Georgios K. Darivianakis, National Technological University Of Athens, National Technological University Of Athens, Κωνσταντίνος Τζαφέστας
system can then develop the capability of finding feasible grasp configurations for more complex objects.  ...  The second part of this thesis deals with the procedure followed to train the robot manipulator.  ...  system can then develop the capability of finding feasible grasp configurations for more complex objects.  ... 
doi:10.26240/heal.ntua.7874 fatcat:pfk6wnitwfcznbbtvg6ib2i2xq

Stimulus complexity, free looking time, and inspective exploration

Judith A. Gaschk, B. L. Kintz, Richard W. Thompson
1968 Perception & Psychophysics  
Welker, in a series of studies with chimpanzees (1956a, b, c), has found that the amount of time Ss spent manipulating an object was related to the complexity of the object.  ...  Figure I presents the mean free looking time and inspective manipulation time for slides and objects at the three levels of complexity.  ...  of the slides increased; the manipulation time of the objects also increased with complexity.  ... 
doi:10.3758/bf03210524 fatcat:stzqlzc5q5a3lndlpqs6vbm674

Manipulation complexity in primates coevolved with brain size and terrestriality

Sandra A. Heldstab, Zaida K. Kosonen, Sonja E. Koski, Judith M. Burkart, Carel P. van Schaik, Karin Isler
2016 Scientific Reports  
However, in all these reports on how primates use their hands to perform object manipulation, no explicit evaluation of the level of complexity was undertaken.  ...  Effective extractive foraging is likely to require complex manipulative skills, because finely tuned movements are an advantage for removing and holding food or manipulating it with different objects.  ...  Second, we found that manipulating two objects is more complex than manipulating the same object with both forelimbs.  ... 
doi:10.1038/srep24528 pmid:27075921 pmcid:PMC4830942 fatcat:nbcgwyyjifelpbkavxp7owzosq
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