Model-based autonomous system for performing dexterous, human-level manipulation tasks
نویسندگان
چکیده
منابع مشابه
Rover Maneuvering for Autonomous Vision-Based Dexterous Manipulation
Manipulators mounted on board rovers have limited dexterity due to power and weight constraints imposed by rover designs However to perform science operations it is necessary to be able to position and orient these manipulators on science targets in order to carry out in situ measurements This article describes how we enhance manipulator dexterity using the rover mobility system The lack of omn...
متن کاملReaching for Dexterous Manipulation
I review three papers in the area of dexterous manipulation by machines. These papers focus on different stages of the process of grasping an object. The first describes a method for generating a suitable hand pose to grasp an object at a given set of contact points. The second describes a method for adapting an example manipulation task from a given object to a new object. The third describes ...
متن کاملDexterous Manipulation Planning from Human Demonstration
In recent years, many multi-finger robotic hands have been designed and developed in order to emulate a human hand. The human hand has many sophisticated a lot of complicated dexterous skills that human themselves sometimes did not notice, for example an ability to grasp and manipulate tiny objects, a capability to regrasp an object without releasing and so on. To mimic or imitate these kind of...
متن کاملDexterous 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 کاملDexterous Manipulation Graphs
We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot’s end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the endeffector. We use a dual arm robot with p...
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: Autonomous Robots
سال: 2013
ISSN: 0929-5593,1573-7527
DOI: 10.1007/s10514-013-9371-y