منابع مشابه
Dexterous Manipulation of Cloth
This paper introduces a new technique to synthesize dexterous manipulation of cloth. Given a simple description of the desired cloth motion, our algorithm computes appropriate joint torques for physically simulated hands, such that, via contact forces, the result of cloth simulation follows the desired motion. Instead of optimizing the hand control forces directly, we formulate an optimization ...
متن کاملSkill-Based Bimanual Manipulation Planning
The paper focuses on specification and utilization of manipulation skills to facilitate programming of bimanual manipulation tasks. Manipulation skills are actions to reach predefined goals. They constitute an interface between lowlevel constraint-based task specification and high level symbolic task planning. The task of the robot can be decomposed into subtasks that can be resolved using mani...
متن کاملBenchmarking in Manipulation Research
I n this article, we present the Yale–Carnegie Mellon University (CMU)–Berkeley (YCB) object and model set, intended to be used to facilitate benchmarking in robotic manipulation research. The objects in the set are designed to cover a wide range of aspects of the manipulation problem. The set includes objects of daily life with different shapes, sizes, textures, weights, and rigidities as well...
متن کاملInteractive Cloth Manipulation With Multi-Touch Control
We present an interactive system for intuitive manipulation of dynamic cloth using multi-touch technology. The system consists of two main modes that can be toggled anytime, namely cloth creation mode and cloth manipulation mode. In cloth creation mode, the user creates pieces of cloth by drawing each desired shape directly onto the scene using simple swipe gestures. The system automatically ge...
متن کاملGoal congruency in bimanual object manipulation.
In 3 experiments, the authors investigated the impact of action goals on the production of discrete bimanual responses. Similar to a bartender putting 2 glasses simultaneously on a shelf, participants placed 2 objects into either parallel or opposite orientations by carrying out either mirror-symmetrical or mirror-asymmetrical movements. In Experiment 1, performance was strongly affected by the...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Robotics and Automation Letters
سال: 2020
ISSN: 2377-3766,2377-3774
DOI: 10.1109/lra.2020.2965891