DocumentCode
2329250
Title
Manipulation skill modeling for dexterous hands
Author
Buss, Martin ; Hashimoto, Hideki
Author_Institution
Inst. of Ind. Sci., Tokyo Univ., Japan
fYear
1994
fDate
8-13 May 1994
Firstpage
3403
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location
San Diego, CA
Print_ISBN
0-8186-5330-2
Type
conf
DOI
10.1109/ROBOT.1994.351047
Filename
351047
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