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Preparatory Manipulation Planning using Automatically Determined Single and Dual Arms
[article]
2018
arXiv
pre-print
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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
2022
Micromachines
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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
2006
Brain Research Bulletin
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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
2017
Nature Communications
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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
2018
Robotics and Autonomous Systems
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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]
2007
Studies in Computational Intelligence
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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
2017
Trends in Neurosciences
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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
2017
Neuropsychologia
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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
2015
Cerebral Cortex
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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
2019
CIRP annals
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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
2018
The international journal of robotics research
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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
2013
IEEE/ASME transactions on mechatronics
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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
2013
IEEE Transactions on Autonomous Mental Development
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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
2012
PLoS ONE
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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
2014
Neuropsychologia
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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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