In this paper, we propose a robust control framework for object manipulation for when the robotic hand has limited knowledge of the grasp scenario. The framework considers a hand-object system subject to disturbances resulting from uncertainties in the object center of mass/inertia, hand kinematics, external wrenches, and contact locations. The framework guarantees semi-global asymptotic stabil...

The flexibility of the human hand in object manipulation is essential for daily life activities, but remains relatively little explored with quantitative methods. On the one hand, recent taxonomies describe qualitatively the classes of hand postures for object grasping and manipulation. On the other hand, the quantitative analysis of hand function has been generally restricted to precision grip...

Object semantics include object function and manipulation knowledge. Function knowledge refers to the goal attainable by using an object (e.g., the function of a key is to open or close a door) while manipulation knowledge refers to gestures one has to execute to use an object appropriately (e.g., a key is held between the thumb and the index, inserted into the door lock and then turned). To da...

Factory Repository Implementation (Class Hierarchy) SPOOL Repository Object Retrieval Object Manipulation Object Instantiation and Initialization

A setup for bimanual virtual object manipulation is described in this paper. Index and thumb fingers are inserted in the corresponding thimbles in order to perform virtual object manipulations. A gimble, with 3-rotational degrees of freedom, connects each thimble to the corresponding serial-parallel mechanical structure with 3 actuated DoF. As a result, each finger has 6 DoF, movements and forc...

Behavioral and physiological characteristics of individuals within the same species have been found to be stable across time and contexts. In this study, we investigated individual differences in learning abilities and object and social manipulation to test for consistency within individuals across different tasks. Individual ravens (Corvus corax) were tested in simple color and position discri...

The manipulation of objects held in a robotic hand or gripper is accompanied by events such as making and breaking contact and slippage, between the fingertips and the grasped object and between the grasped object and external surfaces. Humans can distinguish among such events, in part, because they excite the various mechanoreceptors in the hands differently. As part of an effort to provide ro...

This paper proposes a segmentation method of human manipulation task based on measurement of contact force imposed by a human hand on a grasped object. We define an index measure for segmenting a human manipulation task into primitives. The indices are calculated from the set of the contact forces measured at all the contact points during a manipulation task. Then, we apply the EM algorithm to ...

This paper considers the role of dynamic aspects of mathematics specifically focusing on the calculus, including both physical human action and computer software that responds to physical action to produce dynamic visual effects. The development builds from dynamic human embodiment, uses arithmetic calculations in computer software to calculate 'good enough' values of required quantities and al...

In this letter, we propose an efficient and highly versatile loco-manipulation planning for humanoid robots. Loco-manipulation is a key technological brick enabling robots to autonomously perform object transportation by manipulating them. We formulate of the alternation sequencing footsteps grasps as graph search problem with new transition model that allows flexible representation loco-manipu...