cooperative object manipulation control of rigid-flexible multi-body systems in space is studied in this paper. during such tasks, flexible members like solar panels may get vibrated that in turn may lead to some oscillatory disturbing forces on other subsystems, and consequently produces error in the motion of the end-effectors of the cooperative manipulating arms. therefore, to design and dev...

Dynamic Movement Primitives (DMP) are widely applied in movement representation due to their ability encode tasks using generalization properties. However, the coupled multiple DMP cannot be directly solved based on original formula. Prior works provide satisfactory performance for rigid object manipulation, but extension deformable objects may degrade intrinsic uncertainty of model structure a...

This paper provides a motion analysis of soft-fingertip object manipulation tasks by presenting a dynamic model of multi-fingered object manipulations with soft fingertips. It is fundamentally observed that soft fingertips employed in a multi-fingered hand generate some deformation effects during the manipulation process and also that those effects are closely related to the behavior of the man...

Many tasks require humans to manipulate dynamically complex objects and maintain appropriate safety margins, such as placing a cup of coffee on a coaster without spilling. This study examined how humans learn such safety margins and how they are shaped by task constraints and changing variability with improved skill. Eighteen subjects used a manipulandum to transport a shallow virtual cup conta...

This paper focuses on the fundamental deformation effect of soft fingertips as applied in soft-fingered object manipulations. In order to analyze the deformation effect, we first describe the dynamic relation of a two-fingered object manipulation using soft fingertips. From the dynamic relation, we show that the fundamental deformation effect of soft fingertips is essential for soft-fingered ma...

To achieve human-level object manipulation capability, a robot must be able to handle objects not only with prehensile manipulation, such as pick-and-place, but also nonprehensile manipulation. study we studied robotic batting, primitive form of Batting is challenging research area because it requires sophisticated and fast moving considerable improvement. In this paper, designed batting system...