Although most part of the literature on manipulation systems deals with systems with as many degrees of freedom as the dimension of their task space, or even with more (redundant manipulators), kinematically defective manipulation systems are often encountered in robotics, in particular when dealing with simple industry{ oriented grippers, or when the whole surface of the manipulator limbs is e...

In this paper we propose a new and integrated approach to solve planning problems with both symbolic and geometric aspects. Typical concerned domains are intricate manipulation and task planning problems involving multiple robots in three dimensional worlds. The approach involves a task planner that guides a probabilistic roadmap method used to capture the topology of the free space in various ...

We present a hierarchical planning system and its application to robotic manipulation. The novel features of the system are: 1) it finds high-quality kinematic solutions to task-level problems; 2) it takes advantage of subtask-specific irrelevance information, reusing optimal solutions to state-abstracted subproblems across the search space. We briefly describe how the system handles uncertaint...

Multi-step manipulation tasks in unstructured environments are extremely challenging for a robot to learn. Such interlace high-level reasoning that consists of the expected states can be attained achieve an overall task and low-level decides what actions will yield these states. We propose model-free deep reinforcement learning method learn multi-step tasks. introduce Robotic Manipulation Netwo...

Abstract Background Previous research demonstrated that manipulation of the extremities was associated with changes in multisegmental postural sway as well improvement a lower extremity balancing task. We were interested if these effects would extend to an upper Our aim this study investigate whether could influence dual task performance where explicit suprapostural water filled tube frontal pl...

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In order to realize in-hand manipulation of unknown objects, we introduce an extension to our previously developed manipulation framework, such that long manipulation sequences, involving finger regrasping, become feasible. To this end, we propose a novel feedback controller, which searches for locally optimal contact points (suitable for regrasping), employing an online exploration process on ...

The Centralized Conferencing Manipulation Protocol (CCMP) allows a Centralized Conferencing (XCON) system client to create, retrieve, change, and delete objects that describe a centralized conference. CCMP is a means to control basic and advanced conference features such as conference state and capabilities, participants, relative roles, and details. CCMP is a stateless, XML-based, client serve...