It is a common human behavior to hold a small object of interest and to manipulate it for observation. A computer system, symbiotic with a human, should recognize the object and the intention of the human while the object is manipulated. To realize autonomous recognition of a hand-held object as well as to study human behavior of manipulation and observation, we have developed a wearable vision...

We address the problem of observing a moving agent. In particular, we propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system (DEDS) from work is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the "events" that causes state tran...

We address the problem of observing a moving agent. In particular, we propose a system for observing a manipulation process, where a robot hand manipulates an object. A discrete event dynamic system (DEDS) frame work is developed for the hand/object interaction over time and a stabilizing observer is constructed. Low-level modules are developed for recognizing the "events" that causes state tra...

A good model of the mechanics of a task is a resource for a robot, just as actuators and sensors are resources. The e ective use of frictional, gravitational, and dynamic forces can substitute for extra actuators; the expectation derived from a good model can minimize sensing requirements. Despite this, most robot systems attempt to dominate or nullify task mechanics, rather than exploit them. ...

A dynamic model Whole-Arm Dexterous Manipulation In The Plane S.L. Yeap J.C. Trinkle Dept. of CS syeap@cs. tamu.edu Dept. of CS trink@cs . t amu.edu Texas A&M University, College Station, TX 77843-31 12 ' of a dexterous manipulation system can be used for predicting the feasibility of a manipulation plan generated under the quasistatic assumption but executed under dynamic conditions. Contact f...

In this paper, we propose an entirely new strategy for dynamic manipulation of sheet-like flexible objects. As one example, we consider dynamic folding of a cloth by a highspeed robot system consisting of two high-speed multifingered hands mounted on two sliders and a high-speed vision system. First, the dynamic folding performed by a human subject is analyzed in order to extract the necessary ...

We are interested in using low degree-of-freedom robots to perform complex manipulation tasks by not grasping. By not grasping, the robot can use rolling, slipping, and free flight to control more degrees-of-freedom of the part. To demonstrate this we study the controllabilityproperties of planar dynamic nonprehensile manipulation. We show that almost any planar object is small-time locally con...