Robotic hands are very exible mechanisms. Because of this exibility, it has been di cult to automate the process of acquiring objects using these robotic hands. Each new grasping problem is too complex to analyze without the use of good heuristics. Constraints due to target object geometry, environment geometry, hand kinematics and geometry, and a task description must all be considered when fo...

Abstract. In this paper, we investigate order-preserving sparse coding for classifying multi-dimensional sequence data. Such a problem is often tackled by first decomposing the input sequence into individual frames and extracting features, then performing sparse coding or other processing for each frame based feature vector independently, and finally aggregating individual responses to classify...

Distributed word representations have a rising interest in NLP community. Most of existing models assume only one vector for each individual word, which ignores polysemy and thus degrades their effectiveness for downstream tasks. To address this problem, some recent work adopts multiprototype models to learn multiple embeddings per word type. In this paper, we distinguish the different senses o...

This paper presents fast and simple algorithms for directly constructing force-closure grasps based on the shape of the grasped object. The synthesis of force-closure grasps finds independent regions of contact for the fingertips, such that the motion of the grasped object is totally constrained. A forceclosure grasp implies equilibrium grasps exist. In the reverse direction, we show that most ...

This paper presents a model of individual consumer choice behavior for separate choice occasions. Contrary to the popular notion that each choice is essentially independent of its predecessors, that very dependence is proposed as the key to variety seeking behavior. From the consumption history one can infer which valued attributes the subject has recently consumed and in what quantities. Compa...

Nowadays, the concept of human security is an issue that often discussed, especially when issues regarding policies or how a country deals with Covid-19 pandemic make headlines in every news report. The shifts focus point which previously focused on state to become towards individuals. Often various discussions collide these two concepts under pretext finding best way for appropriate policy, du...

The concepts of canonical grasp and grasp transformation graph proposed in 10] are useful in grasp planning and dextrous manipulation. However, one critical element, namely the automatic generation of the canonical grasps, is required for the grasp transformation graph to be practical. In this paper, we present an algorithm to generate all canonical grasps in the planar case automatically. To t...

We present a real-world robotic agent that is capable of transferring grasping strategies across objects that share similar parts. The agent transfers grasps across objects by identifying, from examples provided by a teacher, parts by which objects are often grasped in a similar fashion. It then uses these parts to identify grasping points onto novel objects. Because most human environments mak...

Grasping a variety of objects is still an open problem in robotics, especially for cluttered scenarios. Multimodal grasping has been recognized as promising strategy to improve the manipulation capabilities robotic system. This work presents novel grasp planning algorithm hybrid grippers that allows multiple modalities. In particular, planner manages two-finger grasps, single or double suction ...