Eye movements can support ongoing manipulative actions, but a class of so-called look ahead fixations (LAFs) are related to future tasks. We examined LAFs in complex natural task—assembling camping tent. Tent assembly is relatively uncommon task and requires the completion multiple subtasks sequence over 5- 20-minute duration. Participants wore head-mounted camera eye tracker. Subtasks were ann...

This paper describes an integrated system for dextrous manipulation using a Utah-MIT hand that allows one to look at the higher levels of control in a number of grasping and manipulation tasks. The system consists of a number of low-level system primitives for grasping, integrated hand and robotic arm movement, tactile sensors mounted on the fingertips, sensing primitives to utilize joint posit...

Uncertainty is one of the main problems that have to deal robot manipulation systems in service environments. In this paper we propose a theoretical framework to program manipulation actions, that makes use of a priori defined manipulation primitives and sensory feedback to face uncertainty in the execution. It also takes into account the limitation of the robot gripper and the reactive executi...

Robotic systems have yet to match humans in skill for movement planning and tool manipulation. For example, humans can robustly grasp and manipulate objects even under task variation. However, successful grasping methods for robotic manipulators are often limited to structured environmental conditions. Our dual goals are to understand manipulation actions in humans and to add such skills to a r...

Object manipulation is a basic task in robotics and automation. Active manipulation by grasp is conventional approach in object manipulation. However, in many cases, grasp-less manipulation can be beneficial in terms of cost, minimalism and extension of workspace. On the other hand passive mechanisms are advantageous from the energy saving viewpoint. In this paper we combine these ideas to deve...

This paper focuses on the soft contact-based rigid object manipulation. First, a dynamic model of an object manipulation by two-fingered robot hand with soft fingertips is presented. In particular, we deal with a planar case to show certain valuable features in softfingertiped manipulation tasks. Next, in order to analyze the motion of using soft fingertips, a dynamic manipulation control schem...

In humans, theta phase (4-8 Hz) synchronization observed on electroencephalography (EEG) plays an important role in the manipulation of mental representations during working memory (WM) tasks; fronto-temporal synchronization is involved in auditory-verbal WM tasks and fronto-parietal synchronization is involved in visual WM tasks. However, whether or not theta phase synchronization is able to s...

This paper describes the implementation of the instantaneous Task Specification using Constraints (iTaSC)Skill on a PR2. The framework allows easy specification and code-generation for robot tasks. Its power will be demonstrated by a mobile co-manipulation task of a human and a PR2 robot. The PR2 has to follow the instructions of the human and help him carrying an object, while avoiding obstacl...

This work presents a unified approach for hybrid motion control of the Mobile Collaborative Robotic Assistant (MOCA). The objective is to develop loco-manipulation controller, enabling various couplings arm and mobile base movements, particularly their purely decoupled motions. proposed method based on weighted whole-body Cartesian impedance where decoupling motions can be achieved by solving l...