Classifying human manipulation behavior.
Classifying human manipulation behavior.
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DOI：
10.1109/icorr.2011.5975408
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发表时间：
2011-01-01
期刊：
影响因子：
--
通讯作者：
Dollar, Aaron M
中科院分区：
文献类型：
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作者：
Bullock, Ian M;Dollar, Aaron M
本文提出了一种对人类和拟人操纵行为进行详细分类的分类法。这种以手为中心、以运动为中心的分类法根据物体接触、抓取和相对于手框架的物体运动的性质等标准来区分任务。最灵巧类别的子分类，手内操作，也提出了基于主轴的对象旋转或平移在手框架。还介绍了对复杂的、多方面的任务进行分类的原则，以及说明性示例。我们希望提出的分类法将围绕人类和拟人化操作建立一种标准语言，并使人们能够更好地理解各种各样的行为中手部使用的差异。虽然是为人类和拟人化的手设计的，但分类法可以很容易地扩展到广泛的机器人操纵器和末端执行器。
This paper presents a taxonomy for detailed classification of human and anthropomorphic manipulation behavior. This hand-centric, motion-centric taxonomy differentiates tasks based on criteria such as object contact, prehension, and the nature of object motion relative to a hand frame. A sub-classification of the most dexterous categories, within-hand manipulation, is also presented, based on the principal axis of object rotation or translation in the hand frame. Principles for categorizing complex, multi-faceted tasks are also presented, along with illustrative examples. We hope that the proposed taxonomy will both establish a standard language around human and anthropomorphic manipulation as well as enable improved understanding of the differences in hand use for a wide variety of behavior. Although designed for human and anthropomorphic hands, the taxonomy might easily be extended to a wide range of robot manipulators and end-effectors.