Forming complex dextrous manipulations from task primitives

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

A friendly teaching system for dexterous manipulation tasks of multi-fingered hands.

by Lam Pak Chio.Thesis (M.Phil.)--Chinese University of Hong Kong, 1998.Includes bibliographical references (leaves 101-105).Abstract also in Chinese.Abstract --- p.iiAcknowledgements --- p.vContentsChapter 1 --- Introduction --- p.1Chapter 1.1 --- Background --- p.1Chapter 1.2 --- Problem Definition and Approach --- p.3Chapter 1.3 --- Outline --- p.5Chapter 2 --- Algorithm Outline --- p.7Chapter 2.1 --- Introduction --- p.7Chapter 2.2 --- Assumptions --- p.7Chapter 2.3 --- Object Model --- p.8Chapter 2.4 --- Hand Model --- p.9Chapter 2.5 --- Measurement Data --- p.11Chapter 2.6 --- Algorithm Outline --- p.12Chapter 3 --- Calculation of Contact States --- p.14Chapter 3.1 --- Introduction --- p.14Chapter 3.2 --- Problem Analysis --- p.15Chapter 3.3 --- Details of Algorithm --- p.17Chapter 3.3.1 --- Calculation of Contact Points --- p.18Chapter 3.3.2 --- Calculation of Object Position and Orientation --- p.26Chapter 3.3.2.1 --- The Object Orientation --- p.26Chapter 3.3.2.2 --- The Object Position --- p.28Chapter 3.3.3 --- Contact Points on Other Fingers --- p.32Chapter 4 --- Calculation of Contact Motion --- p.34Chapter 4.1 --- Introduction --- p.34Chapter 4.2 --- Search-tree --- p.34Chapter 4.3 --- Cost Function --- p.36Chapter 4.4 --- Details of Algorithm --- p.37Chapter 4.4.1 --- Calculation of the Next Instant Contact States --- p.39Chapter 4.4.1.1 --- Contact Region Estimation --- p.41Chapter 4.4.1.2 --- Contact Point Calculation --- p.45Chapter 4.4.1.3 --- Object Position and Orientation Calculation --- p.48Chapter 4.4.1.4 --- Contact Motion Calculation --- p.50Chapter 5 --- Implementation --- p.56Chapter 5.1 --- Introduction --- p.56Chapter 5.2 --- Architecture of Friendly Teaching System --- p.56Chapter 5.2.1 --- CyberGlove --- p.57Chapter 5.2.2 --- CyberGlove Interface Unit --- p.57Chapter 5.2.3 --- Host Computer --- p.58Chapter 5.2.4 --- Software --- p.58Chapter 5.3 --- Algorithm Implementation --- p.59Chapter 5.4 --- Examples for Calculation of Contact Configuration --- p.59Chapter 5.5 --- Simulation --- p.68Chapter 5.6 --- Experiments --- p.82Chapter 5.6.1 --- Translation of an Object --- p.82Chapter 5.6.2 --- Rotation of an Object --- p.90Chapter 6 --- Conclusions --- p.98References --- p.101Appendix --- p.10