This paper presents a novel method for learning object manipulation such as rotating an object or placing one object on another. In this method, motions are learned using reference-point-dependent probabilistic models, which can be used for the generation and recognition of motions. The method estimates (1) the reference point, (2) the intrinsic coordinate system type, which is the type of coor...

Objective: The aim of this paper is to classify and characterize the existing interaction methods regarding object manipulation in virtual reality environment. Background: Over the past few decades, the field of virtual reality has gone through rapid advances and various virtual object manipulation techniques have been developed. However, an established classification of the existing object man...

The eld of object-oriented databases is su ering from the lack of a|widely agreed upon|formal model. In this paper we develop the basics of a formal model for an object-oriented data model (kernel). The formalization is based on dynamic logic: combining many-sorted algebras with states and state transitions. The many-sorted algebras are utilized to model the static aspects, i.e., the value-orie...

For assembly tasks parts often have to be oriented before they can be put in an assembly. The results presented in this paper are a component of the automated design of parts orienting devices. The focus is on orienting parts with minimal sensing and manipulation. We present a new approach to parts orienting through the manipulation of pose distributions. Through dynamic simulation we can deter...

Abst-ract constraint. A static grasp occurs, for example, if a cube is grasped in a frictional parallel-jaw gripper, since the frictional forces must be included to verify stability. A quasi-static grasp might correspond to pushing a sofa across the floor-the sofa retains contact with the effector to balance the forces of sliding This paper' describes some preliminary work on dynamic manipulati...

Dynamic language library developers face a challenging problem: ensuring that their libraries will behave correctly for a wide variety of client programs without having access to those client programs. This problem stems from the common use of two defining features for dynamic languages: callbacks into client code and complex manipulation of attribute names within objects. To remedy this proble...