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Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms [article]

Weiwei Wan and Kensuke Harada and Fumio Kanehiro
2018 arXiv   pre-print
The planner is able to plan both single and dual arm manipulation. It could also automatically determine whether to use a single arm, dual arms, or their combinations to finish given tasks.  ...  The proposed algorithm could plan single and dual arm manipulation sequences to solve the problems.  ...  Compared to the single-arm regrasp planner and dual-arm handover planner, the newly proposed planner does preparatory manipulation planning using automatically determined single and dual arms.  ... 
arXiv:1812.03274v1 fatcat:hwqijgxhk5dk5af55vsp5erehm

Dual-Arm Robot Trajectory Planning Based on Deep Reinforcement Learning under Complex Environment

Wanxing Tang, Chuang Cheng, Haiping Ai, Li Chen
2022 Micromachines  
In this article, the trajectory planning of the two manipulators of the dual-arm robot is studied to approach the patient in a complex environment with deep reinforcement learning algorithms.  ...  used to avoid obstacles, and the time function is used to reduce the number of training episode.  ...  Preliminaries on Robot and Deep Reinforcement Learning Model of the Robot The dual-arm robot studied in this paper has five rotating joints for every single arm.  ... 
doi:10.3390/mi13040564 pmid:35457870 pmcid:PMC9031963 fatcat:sod4xtq7gnhy3hz6o5w3ijv5fy

Dual-tasking postural control: Aging and the effects of cognitive demand in conjunction with focus of attention

Oliver Huxhold, Shu-Chen Li, Florian Schmiedek, Ulman Lindenberger
2006 Brain Research Bulletin  
Thus, mild forms of dual-tasking postural control are the norm rather than the exception.  ...  adults relative to a single-task baseline where the focus of attention was explicitly directed towards the postural control task itself.  ...  ., Baltes, Ralf Krampe, Martin Lövdén, Christina Röcke, and Jacqui Smith for helpful discussions.  ... 
doi:10.1016/j.brainresbull.2006.01.002 pmid:16564425 fatcat:hpkyhtercjahlbsqhngjw5jxpm

Motor planning flexibly optimizes performance under uncertainty about task goals

Aaron L. Wong, Adrian M. Haith
2017 Nature Communications  
Our findings support the normative view that the motor system selects only a single, flexible motor plan, optimized for uncertain goals.  ...  In an environment full of potential goals, how does the brain determine which movement to execute?  ...  (b) Example trajectories for dual-and single-target trials.  ... 
doi:10.1038/ncomms14624 pmid:28256513 pmcid:PMC5337982 fatcat:vzvkni247neelgble5mbk5f5vu

On the manipulation of articulated objects in human–robot cooperation scenarios

Alessio Capitanelli, Marco Maratea, Fulvio Mastrogiovanni, Mauro Vallati
2018 Robotics and Autonomous Systems  
The planHRC 75 architecture has been validated on a dual-arm Baxter manipulator. The paper is organised as follows. Section 2 discusses relevant approaches in  ...  manipulation plans using such models; to the best of our knowledge, such a modelling approach for articulated objects has no comparison with existing literature; (ii) the design and development of a novel  ...  Figure 3 : 3 The experimental scenario: a Baxter dual-arm manipulator operating on an articulated object.  ... 
doi:10.1016/j.robot.2018.08.003 fatcat:7clw2yb4ofcanb5gqmyxbmjdyy

A Dual Interaction Perspective for Robot Cognition: Grasping as a "Rosetta Stone" [chapter]

Helge Ritter, Robert Haschke, Jochen J. Steil
2007 Studies in Computational Intelligence  
We report on the application of the proposed architecture to a robot system comprising a 7-DOF redundant arm and a five-fingered, 20-DOF anthropomorphous manipulator.  ...  We find that this "dual interaction perspective" is closely connected with the challenge of integrating holistic and symbolic aspects of representations.  ...  Wrede who coordinated and implemented many parts of the Active Memory Infrastructure, and R.  ... 
doi:10.1007/978-3-540-73954-8_7 fatcat:xhxb7jnomndnrnno3txioryaci

Physiological Markers of Motor Inhibition during Human Behavior

Julie Duque, Ian Greenhouse, Ludovica Labruna, Richard B. Ivry
2017 Trends in Neurosciences  
As such, many daily life situations demand that human beings refrain from acting in an automatic, stimulus-driven manner, subjugate internal desires that interfere with long-term plans (e.g. eating unhealthy  ...  Here, we review the evidence for motor inhibition during action stopping and action preparation, focusing on studies that have used TMS to monitor changes in the excitability of the corticospinal pathway  ...  We are thankful to Julien Grandjean and Emmanuelle Wilhelm for their valuable comments on an earlier version of the manuscript.  ... 
doi:10.1016/j.tins.2017.02.006 pmid:28341235 pmcid:PMC5389740 fatcat:ythgire6qjh6zgsmhhgzv5dbli

P3 event-related brain potential reflects allocation and use of central processing capacity in language production

Natalia Shitova, Ardi Roelofs, Caitlin Coughler, Herbert Schriefers
2017 Neuropsychologia  
Capacity allocation was manipulated by complexity, and capacity use by switching. Response time (RT) was longer for complex than for simple trials.  ...  We investigated allocation and use of central processing capacity in a spoken phrase production task: Participants switched every second trial between describing pictures using noun phrases with one adjective  ...  RTs were measured semi-automatically using PRAAT (Boersma, 2002) .  ... 
doi:10.1016/j.neuropsychologia.2017.09.024 pmid:28958910 fatcat:4k5orze32nhkvejkzfi6526cuu

Planning Ahead: Object-Directed Sequential Actions Decoded from Human Frontoparietal and Occipitotemporal Networks

Jason P. Gallivan, Ingrid S. Johnsrude, J. Randall Flanagan
2015 Cerebral Cortex  
Here, using event-related functional MRI and pattern decoding methods, we investigated the neural basis of real-object manipulation using a delayed-movement task in which participants first prepared and  ...  examined how manipulatory sequences of actions-those that occur after an object has been grasped-are planned and represented in the brain.  ...  The authors thank Adam McLean for useful discussions and Martin York, Sean Hickman, and Don O′Brien for technical assistance. Conflict of Interest: None declared.  ... 
doi:10.1093/cercor/bhu302 pmid:25576538 pmcid:PMC4712801 fatcat:zld6ozgwrfdz5lyrn3yu7266je

Symbiotic human-robot collaborative assembly

L. Wang, R. Gao, J. Váncza, J. Krüger, X.V. Wang, S. Makris, G. Chryssolouris
2019 CIRP annals  
These methods include voice processing, gesture recognition, haptic interaction, and brainwave perception. Deep learning is used for classification, recognition and context awareness identification.  ...  In human-robot collaborative assembly, robots are often required to dynamically change their pre-planned tasks to collaborate with human operators in a shared workspace.  ...  Acknowledgements The authors wish to thank Franz Dietrich, Zsolt Kemény and Stefania Pellegrinelli for their contributions to this keynote paper.  ... 
doi:10.1016/j.cirp.2019.05.002 fatcat:5tykgsgqcrhbrmdv4mft3buloe

Robotic manipulation and sensing of deformable objects in domestic and industrial applications: a survey

Jose Sanchez, Juan-Antonio Corrales, Belhassen-Chedli Bouzgarrou, Youcef Mezouar
2018 The international journal of robotics research  
We present a survey of recent work on robot manipulation and sensing of deformable objects, a field with relevant applications in diverse industries such as medical (e.g. surgery assistance), food handling  ...  , manufacturing, and domestic chores (e.g. folding clothes).  ...  Although their approach was formulated to manipulate and control several points simultaneously, in their evaluation they used only a single control point and a single manipulation point.  ... 
doi:10.1177/0278364918779698 fatcat:q3nhl3uzhrdkbjss3lqo5pvwhy

Visual Grasp Planning for Unknown Objects Using a Multifingered Robotic Hand

Vincenzo Lippiello, Fabio Ruggiero, Bruno Siciliano, Luigi Villani
2013 IEEE/ASME transactions on mechatronics  
The reconstruction algorithm makes use of images taken by a camera carried by the robot arm. A virtual elastic reconstruction surface is placed around the object.  ...  This method, referred to as parallel visual grasp, may represent a valid candidate for applications where online grasp planning is required.  ...  It does not represent the opinion of the European Community and the Community is not responsible for any use that might be made of the information contained therein.  ... 
doi:10.1109/tmech.2012.2195500 fatcat:hps7jbj6yfd6doo5klgrdjnjkq

A Simple Ontology of Manipulation Actions Based on Hand-Object Relations

Florentin Worgotter, Eren Erdal Aksoy, Norbert Kruger, Justus Piater, Ales Ude, Minija Tamosiunaite
2013 IEEE Transactions on Autonomous Mental Development  
For this we use as temporal anchor points those moments where two objects (or hand and object) touch or un-touch each other during a manipulation.  ...  Here we first discuss how manipulation actions are structured in space and time.  ...  Asfour for valuable discussions and very helpful criticism along the way.  ... 
doi:10.1109/tamd.2012.2232291 fatcat:7y6h7gegvjb7bg3ds2obmpan2u

Neural Activity in the Macaque Putamen Associated with Saccades and Behavioral Outcome

Jessica M. Phillips, Stefan Everling, Susana Martinez-Conde
2012 PLoS ONE  
To investigate the role of the putamen in saccadic eye movements, we recorded single neuron activity in the caudal putamen of two rhesus monkeys while they alternated between short blocks of pro-and anti-saccades  ...  We found that a subset of putamen neurons showed saccade-related activity, that the preparatory mode (internally-versus externally-cued) influenced the expression of task-selectivity in roughly one third  ...  to withhold an automatically planned saccade, and await for the instruction cue to apply the appropriate stimulus-response mapping rule, a preparatory strategy that prioritized accuracy over speed (and  ... 
doi:10.1371/journal.pone.0051596 pmid:23251586 pmcid:PMC3519730 fatcat:ah3h4gho4rdcvdhtppd6zohjp4

Dissociating the influence of response selection and task anticipation on corticospinal suppression during response preparation

Julie Duque, Ludovica Labruna, Christian Cazares, Richard B. Ivry
2014 Neuropsychologia  
In Experiment 1, we manipulated the degree of anticipatory preparation.  ...  Participants performed a choice reaction time task that required choosing between a movement of the left or right index finger, and used transcranial magnetic stimulation (TMS) to elicit motor evoked potentials  ...  Acknowledgments This work was supported by the National Institute of Health (NS0085570, NS040813) and the National Institute of General Medical Sciences (T34GM092702).  ... 
doi:10.1016/j.neuropsychologia.2014.08.006 pmid:25128431 pmcid:PMC4259874 fatcat:uuntqhshzzbqzolekt5fpdh5vy
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