This paper investigates the employment of Artificial Neural Networks (ANN) for a multi-finger robot hand manipulation in which the object motion is defined in task-space with respect to six Cartesian based coordinates. The approach followed here is to let an ANN learn the nonlinear functional relating the entire hand joints positions and displacements to object displacement. This is done by con...

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...

By exploiting centrifugal and Coriolis forces, simple, lowdegree-of-freedom robots can control objects with more degrees-of-freedom. For example, by allowing the object to roll and slip, a one-degree-of-freedom revolute robot can take a planar object to a full-dimensional subset of its state space. We present a dynamic manipulationplanner that finds manipulator trajectories to move an object fr...

My research focus is on using continuous state partially observable Markov decision processes (POMDPs) to perform object manipulation tasks using a robotic arm. During object manipulation, object dynamics can be extremely complex, non-linear and challenging to specify. To avoid modeling the full complexity of possible dynamics, I instead use a model which switches between a discrete number of s...

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 ...

Dynamic kernel memory has been a popular target of recent kernel malware due to the difficulty of determining the status of volatile dynamic kernel objects. Some existing approaches use kernel memory mapping to identify dynamic kernel objects and check kernel integrity. The snapshot-based memory maps generated by these approaches are based on the kernel memory which may have been manipulated by...

This paper describes a method for manipulating a threedimensional object without considering conventional three independent orthogonal views. We apply the direct manipulation to operate the three-dimensional object. We propose “augmented manipulation” which is an enhanced direct manipulation technique by using additional information. We implement three-dimensional modeling tool “Claymore” by us...