Forming complex dextrous manipulations from task primitives

Articles:

Title:: Forming complex dextrous manipulations from task primitives
Author(s):: Michelman, Paul
Allen, Peter K.
Date:: 1994
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15238
Book/Journal Title:: Proceedings : 1994 IEEE International Conference on Robotics and Automation, May 8-13, 1994, San Diego, California
Publisher:: IEEE
Publisher Location:: Piscataway, N.J.
Abstract:: This paper discusses the implementation of complex manipulation tasks with a dextrous hand. The approach used is to build a set of primitive manipulation functions and combine them to form complex tasks. Only fingertip, or precision, manipulations are considered. Each function performs a simple two-dimensional translation or rotation that can be generalized to work with objects of different sizes and using different grasping forces. Complex tasks are sequential combinations of the primitive functions. They are formed by analyzing the workspaces of the individual tasks and controlled by finite state machines. We present a number of examples, including a complex manipulation removing the top of a child-proof medicine bottle-that incorporates different hybrid position/force specifications of the primitive functions of which it is composed. The work has been implemented with a robot hand system using a Utah-MIT hand.
Subject(s):: Robotics
DOI:: http://dx.doi.org/10.1109/ROBOT.1994.351050