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Extrinsic dexterity: In-hand manipulation with external forces

Nikhil Chavan Dafle, Alberto Rodriguez, Robert Paolini, Bowei Tang, Siddhartha S. Srinivasa, Michael Erdmann, Matthew T. Mason, Ivan Lundberg, Harald Staab, Thomas Fuhlbrigge
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
We develop twelve regrasp actions, all open-loop and handscripted, and evaluate their effectiveness with over 1200 trials of regrasps and sequences of regrasps, for three different objects (see video [  ...  The long-term goal of this work is to develop a general repertoire of these behaviors, and to understand how such a repertoire might eventually constitute a general-purpose in-hand manipulation capability  ...  Solid arrows represent implemented regrasps, while dashed arrows show the regrasps that are not yet developed. Fig. 11 . 11 Sequence of regrasps for a triangular prism.  ... 
doi:10.1109/icra.2014.6907062 dblp:conf/icra/DafleRPTSEMLSF14 fatcat:uac3atonw5fhdmvw4rvrc3imnu

Neural Representation of Hand Kinematics During Prehension in Posterior Parietal Cortex of the Macaque Monkey

Jessie Chen, Shari D. Reitzen, Jane B. Kohlenstein, Esther P. Gardner
2009 Journal of Neurophysiology  
To analyze the role of hand kinematics and object properties in a trained prehension task, we correlated the firing rates of neurons in anterior area 5 with hand behaviors as monkeys grasped and lifted  ...  Studies of hand manipulation neurons in posterior parietal cortex of monkeys suggest that their spike trains represent objects by the hand postures needed for grasping or by the underlying patterns of  ...  Sherwood for writing the data analysis tools for quantification of the spike trains; A. Brown, A. Hall, A. Harris, M. Herzlinger, and I. Simanovich for providing skilled technical support; Dr.  ... 
doi:10.1152/jn.90942.2008 pmid:19793876 pmcid:PMC2804418 fatcat:pzjelbnczjcfndsf42ethndmcu

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  
Furthermore, within this object classification we divide the approaches based on the particular task they perform on the deformable object.  ...  We classify the reviewed approaches into four categories based on the type of object they manipulate.  ...  For instance, cloth-like objects can be represented as a polygonal structure, an assumption that has not been proven effective for solid objects.  ... 
doi:10.1177/0278364918779698 fatcat:q3nhl3uzhrdkbjss3lqo5pvwhy

Tactile sensing and control of robotic manipulation

Robert D. Howe
1993 Advanced Robotics  
For reviews of tactile sensing in a more general context (including device design and object recognition) the articles by Nicholls and Lee (1989) and Howe and Cutkosky (1992) may be of interest.  ...  Planar and finger-shaped optical tactile sensors for robotic applications. . Dynamic regrasping by coordinated control of sliding for a multifingered hand.  ...  Acknowledgments The author would like to thank Mark Cutkosky, Ben Edin, Ron Fearing, Rolland Johansson, and Gorin Westling for interesting and enlightening discussions.  ... 
doi:10.1163/156855394x00356 fatcat:ozfon4obz5gllbsv6ct73utejy

Benchmarking In-Hand Manipulation

Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic
2020 IEEE Robotics and Automation Letters  
Given an object surface mesh from the YCB data-set, we provide examples of initial and goal states (i.e.\ static object poses and fingertip locations) for various in-hand manipulation tasks.  ...  The goal is to assess the system's ability to change the pose of a hand-held object by either using the fingers, environment or a combination of both.  ...  circles defining contact with the rectangular object.  ... 
doi:10.1109/lra.2020.2964160 fatcat:rnfcfenkrbd5reiu47dfvdajry

Localization of curved parts through continual touch

Yan-Bin Jia
2005 IEEE Transactions on robotics  
The idea lies in determining the placement of a manipulator on a curved object during some special motion-rolling.  ...  For implementation, a two-axis force/torque sensor has been designed to realize contact sensing.  ...  Fearing [12] designed a cylindrical tactile fingertip for contact localization and regrasping. Skekhar et al.  ... 
doi:10.1109/tro.2005.844675 fatcat:jnfzq6naojevvcqetqrinb5diy

How a Lateralized Brain Supports Symmetrical Bimanual Tasks

Roland S Johansson, Anna Theorin, Göran Westling, Mikael Andersson, Yukari Ohki, Lars Nyberg, James Ashe
2006 PLoS Biology  
A large repertoire of natural object manipulation tasks require precisely coupled symmetrical opposing forces by both hands on a single object.  ...  Jansson for assisting in data collection, and Drs. S. Grillner, G. Rizzolatti, P. Roland, A. Vallbo, and D. Wolpert for valuable comments at an early stage of the study. Author contributions.  ...  That is, when the precision requirements so allow, it reduces the need of reorienting and regrasping objects as would be required if the habitually preferred hand always was selected as prime actor.  ... 
doi:10.1371/journal.pbio.0040158 pmid:16669700 pmcid:PMC1457013 fatcat:bzwc64srivbs5h2txc6ngb4vb4

Role of Tactile Noise in the Control of Digit Normal Force

Abdeldjallil Naceri, Yasemin B. Gultekin, Alessandro Moscatelli, Marc O. Ernst
2021 Frontiers in Psychology  
The human brain integrates signals from multiple sites for a coherent representation of object shape, inertia, weight, and other material properties.  ...  The gasping force increased in the covered finger, whereas it did not change from baseline in the remaining bare fingers (except the thumb for equilibrium constraints).  ...  Edin Benoni for their useful comments and discussion on the current work.  ... 
doi:10.3389/fpsyg.2021.612558 pmid:33643139 pmcid:PMC7907510 fatcat:xnktsha6zfczjnb762dhw7ixne

Learning by watching: extracting reusable task knowledge from visual observation of human performance

Y. Kuniyoshi, M. Inaba, H. Inoue
1994 IEEE Transactions on Robotics and Automation  
Abstract| A novel task instruction method for future intelligent robots is presented. In our method, a robot learns reusable task plans by watching a human perform assembly tasks.  ...  Functional units and working algorithms for visual recognition and analysis of human action sequences are presented. The overall system is model based and integrated at the symbolic level.  ...  Alexander Zelinsky for providing helpful comments on the draft of this paper, and anonymous reviewers for their constructive suggestions.  ... 
doi:10.1109/70.338535 fatcat:7garp3urgfezhjf7gg4zjx7gjy

Object Detection Recognition and Robot Grasping Based on Machine Learning: A Survey

Qiang Bai, Shaobo Li, Jing Yang, Qisong Song, Zhiang Li, Xingxing Zhang
2020 IEEE Access  
FUSION OF VISUAL AND TACTILE FEEDBACK After years of development, object recognition and location based on machine vision has achieved great success, which lays a solid foundation for research on robot  ...  They input the object image and intention type metadata into the full connection layer of the CNN network, which will achieve the ideal rectangular prediction. Corona et al.  ... 
doi:10.1109/access.2020.3028740 fatcat:de4euqnb4ngsbclfob5izyeaxa

An Exploration of Nonprehensile Two-Palm Manipulation

Michael Erdmann
1998 The international journal of robotics research  
[Cole, Hsu, and Sastry 1992 ] developed a dynamic control law for regrasping objects using sliding. Perhaps the most extensive investigation of slip originated with work by Kao and Cutkosky.  ...  The permissible behavior of the palms and the object are invariant across palm orientations within any region thus constructed.  ... 
doi:10.1177/027836499801700502 fatcat:fmjjq465lnbmjmystxnkhissqe

Learning ambidextrous robot grasping policies

Jeffrey Mahler, Matthew Matl, Vishal Satish, Michael Danielczuk, Bill DeRose, Stephen McKinley, Ken Goldberg
2019 Science Robotics  
We train policies for a parallel-jaw and a vacuum-based suction cup gripper on 5 million synthetic depth images, grasps, and rewards generated from heaps of three-dimensional objects.  ...  Universal picking (UP), or reliable robot grasping of a diverse range of novel objects from heaps, is a grand challenge for e-commerce order fulfillment, manufacturing, inspection, and home service robots  ...  Prismatic and circular solids (e.g., rectangular prisms, spheres, and cylinders). 2) Level 2.  ... 
doi:10.1126/scirobotics.aau4984 pmid:33137754 fatcat:4gu6slfd5bfddbx2ivxi6mvica

Automated sequence and motion planning for robotic spatial extrusion of 3D trusses [article]

Yijiang Huang, Caelan Reed Garrett, Caitlin Tobin Mueller
2018 arXiv   pre-print
extrusion has demonstrated a new and efficient means to fabricate 3D truss structures in architectural scale, a major challenge remains in automatically planning extrusion sequence and robotic motion for  ...  By decoupling sequence and motion planning, the planning framework is able to efficiently solve the extrusion sequence, end-effector poses, joint configurations, and transition trajectories for spatial  ...  The authors would also like to thank Jonathan Meyer from ROS-Industrial for his insightful discussion on github and Zhongyuan Liu from University of Science and Technology of China for his help on generating  ... 
arXiv:1810.00998v1 fatcat:k5w72qajrbcidj5buxzddvj73a

Learning by imitation: a hierarchical approach

R W Byrne, A E Russon
1998 Behavioral and Brain Sciences  
Imitation itself has generally been seen as a "special faculty."  ...  Representing and manipulating relations between objects seems to be one basic building block in their hierarchical programs.  ...  a reward for this behavior.  ... 
pmid:10097023 fatcat:qieb6t76vfcj7fyvynrafi3zai

When actions are carved at the joints

Merideth Gattis, Harold Bekkering, Andreas Wohlschläger
1998 Behavioral and Brain Sciences  
a reward for this behavior.  ...  Expanding the developmental framework made little sense in this target article because we were not in a position to make a solid developmental case for great ape imitation.  ... 
doi:10.1017/s0140525x98301740 fatcat:2nf7e6h645bcvgdwzbcgrklkri
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