Picking up a towel by cooperation of functional finger actions

A grasping and manipulation with a multi-fingered hand is comprised of one or more functional finger actions. We define a functional finger action as a ¿primitive action,¿ and fingers that are used in separate primitive actions in a grasping and manipulation as ¿functional finger isolation.¿ Various grasping and manipulations can be realized by assigning different primitive actions to the functional finger isolation form. This paper presents a towel picking task with a multi-fingered hand by assigning different primitive actions to fingers. In this paper, we describe the towel picking task by a series of primitive actions applied to the towel. Experimental results are given, and we also show that the specification of a hand for the towel picking can be derived by analyzing the primitive actions assigned to the fingers. By describing a grasping and manipulation task with primitive actions, it can be used with other type of robot hands.