We propose the Dexterous Manipulation Graph as a tool to address in-hand manipulation and reposition an object inside a robot’s end-effector. This graph is used to plan a sequence of manipulation primitives so to bring the object to the desired end pose. This sequence of primitives is translated into motions of the robot to move the object held by the endeffector. We use a dual arm robot with p...

Nonholonomic constraints in robotic systems are the source of some di culties in planning and control; however, they also introduce interesting properties that can be practically exploited. In this paper we consider the design of a robot hand that achieves dexterity (i.e., the ability to arbitrarily locate and reorient manipulated objects) through rolling. Some interesting issues arising in pla...

This paper introduces a new technique to synthesize dexterous manipulation of cloth. Given a simple description of the desired cloth motion, our algorithm computes appropriate joint torques for physically simulated hands, such that, via contact forces, the result of cloth simulation follows the desired motion. Instead of optimizing the hand control forces directly, we formulate an optimization ...

Recently, significant advances have been made in ROBOTICS, ARTIFICIAL INTELLIGENCE and other COGNITIVE related fields, allowing tomakemuch sophisticated biomimetic robotics systems. In addition, enormous number of robots have been designed and assembled, explicitly realize biological oriented behaviors. Towards much skill behaviors and adequate grasping abilities (i.e. ARTICULATION and DEXTEROU...

This paper studies and formulates the workspace of laparoscopic extenders(e.g. graspers, needle drivers, scissors etc.)with exible stems, that provide additional DOF, and dexterity at the surgical sight. Optimization techniques are used to synthesis the designs of exible stems. The dexterous workspace is determined for 3 di erent types of designs. By de ning a new dexterity measure the number o...

This paper presents a methodology for dynamic modeling and trajectory tracking of a dexterous hand. Firstly, the kinematic model is set up based on modified D-H principle. Then we employ an energy-based approach for modeling and its bond graph notation ensures encapsulation of functionality, extendibility and reusability of each element of the model. A toolbox BG V.2.1 in Matlab/Simulink is use...

The problem of dexterous manipulation of objects, i.e. of arbitrary relocation and reorientation of rigid bodies by action of some mechanism, is considered. We build upon previous results on the possibility of implementing dexterous “robot hands” with few actuators, which can be afforded through the exploitation of nonholonomic rolling of regular surfaces. In this paper we focus on the manipula...

The Cooperative Manipulation Testbed (CMT) in the Dexterous Robotics Laboratory at the NASA Johnson Space Center (JSC) is a facility for developing and testing control systems for space robotics and a general robotics testbed for system development. The CMT consists of three seven degree-of-freedom commercial manipulators with flexible tooling arranged in a configuration inspired by other dexte...