Title :
Manipulation skill modeling for dexterous hands
Author :
Buss, Martin ; Hashimoto, Hideki
Author_Institution :
Inst. of Ind. Sci., Tokyo Univ., Japan
Abstract :
This paper proposes the idea of a manipulation skill mapping for dexterous manipulation task modeling. Mapping between desired object task trajectories and finger contact point locations, this skill mapping can efficiently describe complex manipulation tasks, where contact states of the fingers change during the task. Further issues on how this skill mapping can be acquired and transferred for execution by dexterous robotic hands, are discussed. Examples show the applicability of the proposed scheme
Keywords :
knowledge acquisition; manipulators; path planning; dexterous hands; finger contact point locations; manipulation skill modeling; manipulation task modeling; object task trajectories; robotic hands; skill mapping; Fingers; Force control; Friction; Grasping; Hardware; Humans; Robot sensing systems; Samarium; Shape; Trajectory;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351047
