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Wednesday, April 29, 2020 | History

4 edition of Issues in dextrous manipulation: grasping, compliance, and control found in the catalog.

Issues in dextrous manipulation: grasping, compliance, and control

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Published by Courant Institute of Mathematical Sciences, New York University in New York .
Written in English


Edition Notes

Statementby Naomi Silver, Bud Mishra.
SeriesRobotics report -- 141
ContributionsMishra, Bud
The Physical Object
Pagination34 p.
Number of Pages34
ID Numbers
Open LibraryOL17977058M

COVID Resources. Reliable information about the coronavirus (COVID) is available from the World Health Organization (current situation, international travel).Numerous and frequently-updated resource results are available from this ’s WebJunction has pulled together information and resources to assist library staff as they consider how to handle . Haptic Issues in Virtual Environments Grigore C. Burdea CAIP Center, Rutgers University, grasped virtual objects, their mechanical compliance, inertia, as well as motion constraints. As opposed to In the case of dextrous manipulation of virtual objects by a virtual hand mapped. In the s, many efforts were made to improve the performance of industrial robots in fine manipulation tasks: active methods using feedback control to improve positioning accuracy and program compliance, and passive methods involving a mechanical redesign of the arm. However, fundamental questions remain about how user performance is affected by such factors as graphics refresh rate, resolution, control latencies, and multimodal feedback. This article reports on two experiments performed to examine dextrous manipulation of virtual by:

Abstract. MODIFIED PAPER TITLE AND ABSTRACT DUE TO SLIGHTLY MODIFIED SCOPE: TITLE: Nonlinear Force Profile Used to Increase the Performance of a Haptic User Interface for Teleoperating a Robotic Hand Natural movements and force feedback are important elements in using teleoperated equipment if complex and speedy manipulation tasks are to be .


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Issues in dextrous manipulation: grasping, compliance, and control by Naomi Silver Download PDF EPUB FB2

Many practical dextrous manipulation tasks involve large-scale motion of the grasped object while maintaining a stable grasp. Secondly, the stable grasping and manipulation problems in the multifingered hand are addressed assuming the existence of friction at the contact area of each finger tip and the object grasped.

To formulate and control book stable grasping condition, the stiffness matrix of an object Issues in dextrous manipulation: grasping by fingers with compliance adjustable joints was : Kazuo Tanie, Makoto Kaneko. Abstract. In this paper, an attempt at summarizing the evolution and the state-of-the-art in the field of robot hands is made.

In such exposition, a critical evaluation of what in the author’s view are the leading ideas and emerging trends, is privileged with respect to exhaustiveness of by: One of the central issues in dextrous robotic hand grasping is to balance external forces acting on the object and at the same time achieve grasp stability and minimum grasping effort.

Dextrous manipulation then is a fusion of these three sensing modalities. This paper is an exploration of using a dextrous, multi-fingered hand (Utah/MIT hand) for high-level object recognition tasks. Reducing the actuators and increasing uncontrolled compliance of freedom, however may affect dexterity and control capabilities.

Observing how humans use their hands in everyday grasping and manipulation tasks, it is evident that our “planner” is not always very precise, and we tend to use the environment to guide our finger trajectories Author: Monica Malvezzi, Monica Malvezzi, Compliance Salvietti, Gionata Salvietti, Domenico Prattichizzo, Domen.

Grasping in computer animation has typically focused on control algorithms that involve the solution of carefully designed optimization problems [2], or in other cases only addresses the reuse.

robust grasping. The architecture includes components for calibration, perception, motion planning, motion primitive execution, inverse kinematics and force control, and, there-fore, addresses a number of vital sub-tasks of grasping and manipulation.

The efficiency of this approach was and control book during competitions in the DARPA ARM project Compliance by: 4. This paper establishes a novel approach of robotic hand posture and grasping control.

For this purpose, the control uses the operational space approach. This permits the consideration of the shape of the object to be grasped. Thus, the control is split into a task control and a particular optimizing posture by: 8.

Control of manipulation with dextrous hands. Abstract. This paper deals with a technique for the control of contact forces between the links of a robotic hand and an object. The goal is to control the position of the object while minimizing the Author: A. Bicchi, P. Petreschi, D. Prattichizzo.

The main issue has been how to control mechanical hands so that they Issues in dextrous manipulation: grasping perform manipulation task with the same compliance and sensitivity as the human hands.

To achieve sophisticated algorithms for grasping, compliance control, and manipulation, the nature of the contact wrenches, twists, and compliance of the fingers have to be well understood. In a dextrous manipulation, one of the major problems Issues in dextrous manipulation: grasping remain to be compliance is the determination of an appropriate preshape for grasping given the object, under a given manipulation and the task.

The main concern has been how to control robot hands and control book that they can execute manipulation compliance with the same dexterity and intuition as human hands.

This paper surveys multi-fingered robot hand research Issues in dextrous manipulation: grasping development topics which include robot hand design, object force distribution and control, grip transform, Cited by:   In the paper “An Autonomous Manipulation System based on Force Control and Optimization”, Righetti et al.

introduce a manipulation architecture that uses force-torque control, variable compliance and optimization methods to realize robust by: 4. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research.

The main concern has been how to control robot hands so that they can execute manipulation tasks with the same dexterity and intuition as human hands. This paper surveys multi-fingered robot hand research and development topics which include robot hand design, object force distribution and control, grip transform, grasp stability and its synthesis, grasp stiffness and Cited by: Sometimes reconfiguration can be avoidecL if the manipulation is interrupted, and the object is grasped again.

CONCLUSION This paper revie'Wed progress to date on a dextrous hand project. One of the key issues in intelligent control is manipulation planning., the relevant part of which is optimum grasp by: 1.

The results of the contact-mechanics model and the pressure distribution for soft fingers facilitate the construction of numerical friction limit surfaces, and will enable us to analyze and simulate contact behaviors of grasping and manipulation in by: Robotic manipulation, in terms of both hardware implementation and control schemes, has been recently explored in depth and drastically advanced.

A notable robotic application that is actively being explored is a master-slave control in robotic manipulation. The extension of human ability by introducing user-controlled robots is of great interest. Recently a substantial amount of research has been done in the field of dextrous manipulation and hand manoeuvres.

The main concern has been how to control robot hands so that they can execute manipulation tasks with the same dexterity and intuition as human hands. This paper surveys multi-fingered robot hand research and development topics which include robot hand. Studies on human grasping and manipulation have shown that sensorial capabilities play a key role in the success of human manipulation, allowing a better perception of the object and the interaction with it, and revealing adaptation and control strategies, e.g., using environment and its constraints for more effective manipulation.

We propose a method for modeling dextrous manipulation with sliding fingers. The approach combines compliance and friction limit surfaces. The method is useful for describing how a grasp will behave in the presence of external forces (e.g., when and how the fingertips will slide) and for planning how to control the fingers so that the grasped object will follow a desired by: The goal of this research, in which dextrous manipulation is driven by task function, to develop a set of general skills which can be modified (i.e., parametrized) to deal with the variations from one task to another; for example, changes in geometry, friction coefficients, and masses and compliance of grasped by: The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve.

By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers. Object-level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks.

In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp : WimböckThomas, OttChristian, Albu-SchäfferAlin, HirzingerGerd. Abstract: Presents the first prototype of the DIST-Hand dextrous gripper.

DIST-Hand is a 4-fingered tendon driven device with 16 degrees of freedom, designed for experiments in the area of grasping control, and tele-manipulation. The current version of the gripper is lightweight and can be easily installed on the various existing by: Shih-Feng Chen, Yanmei Li, Imin Kao, "A new theory in stiffness control for dextrous manipulation", Robotics and Automation Proceedings ICRA.

IEEE International Conference on, vol. 3, pp. vol.3, At the same time, manipulation planning and control for anthropomorphic hands pose sensorimotor challenges that are even greater than those associated with grasping alone and that may even have acted as a major evolutionary drive for the evolution of higher cognitive abilities, such as tool use and by: 2.

Over the past several decades, object manipulation and grasping by robot hands has been widely studied []–[].Multifingered-hand research has focused on grasping control [] and visual and tactile control [].Grasp-less manipulation [], i.e., manipulation without hand grasping and power grasping [] using the palm of the robot hand have also been by: 9.

EEG brainwaves during a grasping and manipulation have been used for this analysis. This involves, movement of almost five fingers during a grasping defined task.

The study has found that, it is not a straight forward task to decode all human fingers motions, as due to the complexity of grasping by: 2.

Presents an overview of research in dexterous manipulation. We first define robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used to formulate the dexterous manipulation problem.

Dexterous motion planning is described, which includes grasp planning and quality measures. A Mathematical Introduction to Robotic Manipulation Richard M. Murray California Institute of Technology 2 Multifingered Hands and Dextrous Manipulation 8 to grasping and manipulation of objects by multifingered robotFile Size: 2MB.

Comparison of object-level grasp controllers for dynamic dexterous manipulation. Thomas Wimböck, Christian Ott, Alin Albu-Schäffer, and Gerd Hirzinger force control, grasping, manipulation, multi-fingered hands. References. Spatial compliance modeling using a quaternion-based potential function by: Books at Amazon.

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A sketch of a robot hand with some of the most common types of contact sensor is shown in Figure 1. These sensors are the tactile array sensor, finger tip force-torque sensor, and various dynamic tactile sensors (Table 2).

Figure 1. Schematic drawing of a robot hand equipped with several types of contact sensor. Object-level control of a dexterous robot hand provides an intuitive high-level interface to solve fine manipulation tasks.

In the past, many algorithms were proposed based on a weighted pseudoinverse of the grasp by: @article{osti_, title = {Dikin-type algorithms for dextrous grasping force optimization}, author = {Buss, M and Faybusovich, L and Moore, J B}, abstractNote = {One of the central issues in dextrous robotic hand grasping is to balance external forces acting on the object and at the same time achieve grasp stability and minimum grasping effort.

A survey of multi-fingered robot hands: issues and grasping achievements. Abstract. Recently a substantial amount of research has been done in the field of dextrous manipulation and hand manoeuvres.

The main concern has been how to control robot hands so that they can execute manipulation tasks with the same dexterity and intuition as Author: E. Al-Gallaf, A. Allen and Kevin Warwick. This paper introduces the underactuated part alignment system (UPAS) as a cost-effective and flexible approach to aligning parts in the vertical plane prior to an industrial robotic assembly by: 1.

Books: Y.J. Lou and Z.X. Li, Geometric Methods in Robotics and Mechanism Research: Theory and Applications, LAP Lambert Academic Publishing, ISBN:. In this paper, we present fundamental properties of stiffness matrices as applied in analysis pdf grasping and dextrous manipulation in configuration spaces and linear Euclidean R 3×3 space without rotational components.

A conservative-stiffness matrix in such spaces needs to satisfy both symmetric and exact differential by: Differential geometry and nonlinear control theory provide essential tools download pdf studying motion generation in robot systems.

Two areas where progress is being made are motion planning for mobile robots of factory floors (or on the surface of Mars), and control of highly articulated robots—such as multifingered robot hands and robot "snakes"—for medical inspection and manipulation .Stiffness Modeling of the Soft-Finger Contact in Robotic Grasping Abdul Ghafoor, Ebook Ghafoor.

The grasps are analyzed with a general stiffness matrix which is used to control the fine displacements of a grasped object by changing the preload on the contact. Dextrous Manipulation With Compliance and Sliding,”Cited by: