Hand manipulation skill modeling for the intelligent cooperative manipulation system-ICMS

Author

Buss, Martin ; Hashimoto, Hideki

Author_Institution

Inst. of Ind. Sci., Tokyo Univ., Japan

Volume

2

fYear

1994

fDate

12-16 Sep 1994

Firstpage

1234

Abstract

This paper proposes a manipulation skill mapping for dextrous manipulation task modeling in the intelligent cooperative manipulation system-ICMS. 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 discussed are how this skill mapping can be acquired into the manipulation skill database of the ICMS and transferred for execution by dextrous robotic hands. Examples show the applicability of the proposed scheme

Keywords

cooperative systems; intelligent control; man-machine systems; manipulators; dextrous manipulation task modeling; finger contact point locations; hand manipulation skill modeling; intelligent cooperative manipulation system; manipulation skill mapping; object task trajectories; Fingers; Force feedback; Force sensors; Humans; Intelligent robots; Intelligent sensors; Intelligent systems; Robot sensing systems; Trajectory; Virtual reality;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on

Conference_Location

Munich

Print_ISBN

0-7803-1933-8

Type

conf

DOI

10.1109/IROS.1994.407521

Filename

407521