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This work outlines the development of a reasoning architecture that uses physics-, social-, and agent capability-based knowledge to generate manipulation strategies for a dexterous robot. The architecture learns object affordances through human observations, imposed constraints, and hardcoded physics logic. Human observations are also used to develop a unique manipulation repertoire suitable for the...
In this paper, we have developed a novel control law to exhibit human-motion characteristics in redundant robot arm-trunk systems for reaching tasks. This newly developed method nullifies the need for the computation of pseudo-inverse of Jacobian while the formulation and optimization of any artificial performance index is not necessary. The time-varying properties of the muscle stiffness and damping...
In recent years, development of humanoids, which are robots that assume an anthropomorphic form is a challenge that gaining interest in robotics. Kinematics is important in performing the simulation of a humanoid arm in order to perform desired task. In this work, the kinematic solution for humanoid arm is described. The kinematics of the humanoid arm is computed using the Denavit Hartenburg (DH)...
Behaviors in human reaching movement suggest that certain visually guided tasks consist of an initial movement without visual feedback, and a fine movement with visual feedback when our hand is near the target. Inspired by this phenomenon, we propose a new setpoint controller that only requires vision feedback when the end effector is near a desired position. The proposed controller consists of a...
A grasping and manipulation with a multi-fingered hand is comprised of one or more functional finger actions. We define a functional finger action as a ??primitive action,?? and fingers that are used in separate primitive actions in a grasping and manipulation as ??functional finger isolation.?? Various grasping and manipulations can be realized by assigning different primitive actions to the functional...
In many future joint-action scenarios, humans and robots will have to interact physically in order to cooperate successfully. Ideally, human-robot interaction should not require training on the human side, but should be intuitive and simple. Previously, we reported on a simple case of physical human-robot interaction, a hand-over task. Even such a basic task as manually handing over an object from...
Robot motor capability is crucial for skill learning because it determines how accurately and rapidly a robot can perform a skill to accomplish a task constrained by the spatial and temporal conditions. Due to the capability of robot motor, a robot may not be able to perform skills to satisfy both task spatial and temporal constraints. To determine the robot motor capability, this paper formulates...
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