Skillful manipulation based on high-speed sensory-motor fusion

Senoo, Taku; Yamakawa, Yuji; Mizusawa, Satoru; Namiki, Akio; Ishikawa, Masatoshi; Shimojo, Makoto

doi:10.1109/robot.2009.5152852

Cited by 29 publications

(19 citation statements)

References 5 publications

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“…The most challenging regrasp maneuvers involve arm motion coordinated with a dynamic motion of the object, as in [38,48]. The most straightforward is a self-throw, where the object is thrown into the air and regrasped, which in theory could be used for almost any imaginable regrasp and for any object shape.…”

Section: Active Dynamicmentioning

confidence: 99%

Extrinsic dexterity: In-hand manipulation with external forces

Dafle

Rodríguez

Paolini

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

207

109

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Abstract-"In-hand manipulation" is the ability to reposition an object in the hand, for example when adjusting the grasp of a hammer before hammering a nail. The common approach to in-hand manipulation with robotic hands, known as dexterous manipulation [1], is to hold an object within the fingertips of the hand and wiggle the fingers, or walk them along the object's surface. Dexterous manipulation, however, is just one of the many techniques available to the robot. The robot can also roll the object in the hand by using gravity, or adjust the object's pose by pressing it against a surface, or if fast enough, it can even toss the object in the air and catch it in a different pose. All these techniques have one thing in common: they rely on resources extrinsic to the hand, either gravity, external contacts or dynamic arm motions. We refer to them as "extrinsic dexterity".In this paper we study extrinsic dexterity in the context of regrasp operations, for example when switching from a power to a precision grasp, and we demonstrate that even simple grippers are capable of ample in-hand manipulation. We develop twelve regrasp actions, all open-loop and handscripted, and evaluate their effectiveness with over 1200 trials of regrasps and sequences of regrasps, for three different objects (see video [2]). The long-term goal of this work is to develop a general repertoire of these behaviors, and to understand how such a repertoire might eventually constitute a general-purpose in-hand manipulation capability.

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Section: Active Dynamicmentioning

confidence: 99%

Extrinsic dexterity: In-hand manipulation with external forces

Dafle

Rodríguez

Paolini

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

207

109

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“…Senoo et al used high speed manipulators and vision systems to manipulate objects within the robot's hand [9], [10]. The authors demonstrated that the high speed feedback and control allow them to perform fine in-hand manipulation using both intrinsic and extrinsic dexterity.…”

Section: Related Workmentioning

confidence: 99%

In-hand manipulation using gravity and controlled slip

Viña

Karayiannidis

Pauwels

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Abstract-In this work we propose a sliding mode controller for in-hand manipulation that repositions a tool in the robot's hand by using gravity and controlling the slippage of the tool. In our approach, the robot holds the tool with a pinch grasp and we model the system as a link attached to the gripper via a passive revolute joint with friction, i.e., the grasp only affords rotational motions of the tool around a given axis of rotation. The robot controls the slippage by varying the opening between the fingers in order to allow the tool to move to the desired angular position following a reference trajectory. We show experimentally how the proposed controller achieves convergence to the desired tool orientation under variations of the tool's inertial parameters.

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“…The rationale for this endeavor was multifold. First, the growing interest in and rapid development of intelligent robotic hands such as the Gifu Hand III [1] and the high-speed robot hand [2] produced at the University of Tokyo, which perform impressive acts of dexterity and skillful manipulation, have urged the development of reliable tactile sensing devices and control algorithms to merge perfectly with the robot controller. In addition, such a sensing system can be used as an experimental apparatus to explore control strategies in dexterous robot manipulation [3].…”

Section: International Journal On Smart Sensing and Intelligent Systementioning

confidence: 99%