We studied adjustments of digit forces to changes in the friction. The subjects held a handle statically in a three-digit grasp. The friction under each digit was either high or low, resulting in eight three-element friction sets (such grasps were coined the grasps with complex friction pattern). The total load was also manipulated. It was found that digit forces were adjusted not only to the s...

Manipulating natural objects of irregular shapes, such as rocks, is an essential capability of robots operating in outdoor environments. Physics-based simulators are commonly used to plan stable grasps for man-made objects. However, planning is an expensive process that is based on simulating hand and object trajectories in different configurations, and evaluating the outcome of each trajectory...

あらまし Web ベースのシングルサインオン認証技術を機関にまたがって活用する認証フェデレーションが, 世界的に広がりを見せている.特に学術分野においては,大学等の学術機関が提供する認証情報を電子ジャーナ ルや e ラーニング等の各種学術サービスでの認可等に活用すべく,学術認証フェデレーションの構築と運用が国 を単位として進んでいる.異なる機関が提供する認証機構を利用するとともに,利用者に対応づく個人情報を利 用する分散サービスアーキテクチャであることから,相互に信頼させるための統一的なポリシーへの準拠が不可 欠であるが,その一方で,機関ごとのもつアクセス制御ポリシーやプライバシーポリシーの異なりに対応するこ との重要性を日本における学術認証フェデレーション「学認」の運用を通して強く認識した.そこで,我々は各 機関のアクセス制御ポリシーを細かく表現・反映する仕組みを提供するとともに,...

Introduction A real world classification task can often be viewed as consisting of multiple subtasks. In remote sensing, for example, one may have multiple sets of radar images, each collected at a particular geographical location, with the aim of designing classifiers for detecting objects of interest in images at all locations. In this situation, one can either learn a single classifier from ...

This paper addresses the problem of computing frictionless three-nger immobilizing grasps of two-dimensional objects whose boundaries are described by polynomial splines. Using the mobility theory of Rimon and Burdick, we rst develop a set of equations that describe the immobilization constraints. We then present a grasp planning algorithm which uses exact cell decomposition and ho-motopy conti...

This paper presents a procedure to optimize the quality of robotic grasps for objects that need to be held and manipulated in a specific way, characterized by a number of tight contact constraints. The main difficulties of the problem include that the set of feasible grasps is a manifold implicitly defined by a system of non-linear equations, the high dimension of this manifold, and the multi-m...

Infants actively explore their world in order to determine the different ways in which they can interact with various objects. Although research on infant perception has focused on how infants understand the differences between 2- and 3-dimensional objects, today's infants increasingly encounter 2D images with interactive qualities on smart-phone screens, tablets, and laptops. The purpose of th...