In this paper we describe ongoing work toward eventdriven dextrous manipulation. In this context, the events are primarily determined through tactile and force/torque sensing. We begin with a review of recent work in tactile event detection and its role in the control of manipulation. We then consider control issues, focusing on the problem of accomplishing smooth transitions as the constraints...

1 2 Energy Margins in Dynamic Object Manipulation 3 4 Christopher J. Hasson, Tian Shen, and Dagmar Sternad 5 6 Departments of Biology, Physics, and Electrical & Computer Engineering 7 Center for Interdisciplinary Research in Complex Systems 8 Northeastern University, Boston MA 9 10

This paper proposes a novel approach to performing in-grasp manipulation planning: the problem of moving an object with reference to the palm from an initial pose to a goal pose without breaking or making contacts. Our method to perform in-grasp manipulation uses kinematic trajectory optimization which requires no knowledge of dynamic properties of the object or the robot. We define a cost func...

This paper describes formulation and management of constraints that, combined with a nonlinear optimization algorithm, enable interactive geometrically aware manipulation of articulated objects. Going beyond purely kinematic or dynamic approaches, our solution method directly employs geometric constraints to ensure noninterpenetration during object manipulation. We present the formulation of th...

Robotic mobile manipulation in unstructured environments requires integration of a number of key reasearch areas such as localization, navigation, object recognition, visual tracking/servoing, grasping and object manipulation. It has been demonstrated that, given the above, and through simple sequencing of basic skills, a robust system can be designed, [19]. In order to provide the robustness a...

This paper describes formulation and management of constraints, and a nonlinear optimization algorithm that together enable interactive geometrically aware manipulation of articulated objects. Going beyond purely kinematic or dynamic approaches, our solution method directly employs geometric constraints to ensure noninterpenetration during object manipulation. We present the formulation of the ...

The aim of the study was to evaluate grip force (GF; normal component of hand-object interaction) adaptation across different manipulation conditions. We hypothesized (1) that the absolute safety margin (the difference between the exerted GF and the minimum GF that prevents slippage; absolute SM), rather than the relative SM (the same difference relative to the minimum GF required), could be an...

In this paper we present a cognitive robotic model of object manipulation (i.e. grasping) based on psychologically plausible embodied cognition principles. Specifically, the robotic simulation model is inspired by recent theories of embodied cognition, in which vision, action and semantic systems are linked together in a dynamic and mutually interactive manner. The robotic agent is based on a s...

In this paper we present a method of whole-body manipulation of large objects by a humanoid robot using a pivoting motion. Pivoting manipulation can be an alternative to pushing or lifting for more dexterous and stable operation, which is often used by humans to move large and bulky furniture. This paper describes a method and control techniques for a humanoid robot to perform the manipulation ...