Constraint-based control approaches offer a flexible way to specify robotic manipulation tasks and execute them on robots with many degrees of freedom. However, the specification task constraints their associated priorities usually requires human-expert often leads tailor-made solutions for specific situations. This paper presents our recent efforts automatically derive constraint-based robot c...

Most robotics computations refer to a single worldbased frame of reference; however, several advantages accrue with the introduction of a second frame, termed a task frame. A task frame is a coordinate frame that can be attached to different objects that are to be manipulated. The task frame is related to the world-based coordinate frame by a simple geometric transformation. The virtues of such...

In the present study, two different models of task complexity; namely, limited attentional capacity model and cognition hypothesis were examined. To this end, the manipulation of cognitive task complexity along +/- single task dimension on Iranian EFL learners’ production in terms of fluency was explored. Based on the results of the writing test of TOFEL (2004), 48 learners were selected as the...

In this paper we analyze the feasibility of the nger tracking paradigm for multi-nger manipulation introduced in 22] and we relate it to task-directed programming issues. By using the geometry of singularities that arise in solving the instantaneous motion problem we are able to characterize regions of feasibility associated with an initial grasp and quantify how much reorientation is possible ...

This paper addresses the manipulation planning problem which deals with motion planning for robots manipulating movable objects among static obstacles. We propose a general manipulation planning approach capable to deal with continuous sets for modeling both the possible grasps and the stable placements of the movable object, rather than discrete sets generally assumed by the existing planners....

Intelligent tutoring systems are quite difficult and time intensive to develop. In this paper, we describe a method and set of software tools that ease the process of cognitive task analysis and tutor development by allowing the author to demonstrate, instead of programming, the behavior of an intelligent tutor. We focus on the subset of our tools that allow authors to create “Pseudo Tutors” th...

In the present study, two different models of task complexity; namely, limited attentional capacity model and cognition hypothesis were examined. To this end, the manipulation of cognitive task complexity along +/- single task dimension on Iranian EFL learners’ production in terms of fluency was explored. Based on the results of the writing test of TOFEL (2004), 48 learners were selected as the...