This paper first discusses briefly some of the recent ideas of perceptual psychology on the human haptic system particularly those of J.J. Gibson and Klatzky and Lederman. Following this introduction, we present some of the requirements of robotic haptic sensing and the results of experiments using a Utah/~nT dexterous robot hand to derive geometric object information using active sensing.

Dexterous manipulation tasks usually have multiple objectives. The priorities of these objectives may vary at different phases a task. Current methods do not consider the objective priority and its change during task, making robot hard time or even fail to learn good policy. In this work, we develop novel Adaptive Hierarchical Curriculum guide with prioritized Our method determines learning pro...

this work intends to deal with the optimal kinematic synthesis problem of tricept parallel manipulator. observing that cuboid workspaces are desirable for most machines, we use the concept of effective inscribed cuboid workspace, which reflects requirements on the workspace shape, volume and quality, simultaneously. the effectiveness of a workspace is characterized by the dexterity of the manip...

Moving our fingertips toward objects to produce well-directed forces immediately upon contact is fundamental to dexterous manipulation. This apparently simple motion-to-force transition in fact involves a time-critical, predictive switch in control strategy. Given that dexterous manipulation must accommodate multiple mechanical conditions, we investigated whether and how this transition adapts ...

Dexterous robotic manipulation in unstructured environments is still challenging, despite the increasing number of robots entering human settings each day. Even though provides complete solutions factories and industries, it lacks essential techniques, displaying clumsy or limited operation environments. Daily objects typically aim at hand, somatosensory system responsible for solving all compl...

Haptic exploration of unknown objects is of great importance for acquiring multimodal object representations, which enable a humanoid robot to autonomously execute grasping and manipulation tasks. In this paper we present our ongoing work on tactile object exploration with an anthropomorphic five-finger robot hand. In particular we present a method for guiding the hand along the surface of an u...

We report on our efforts to develop a sequential robot controller composition technique in the context of dexterous “batting” maneuvers. A robot with a flat paddle is required to strike repeatedly at a thrown ball until the ball is brought to rest on the paddle at a specified location. The robot’s reachable workspace is blocked by an obstacle that disconnects the free space formed when the ball...