Dextrous Manipulation

该项目的总体目标是建立一个 规划复杂任务的框架（涉及时间 和空间手-物体关系）。 将利用手-物交互来指导目标 导向的操作策略，可以产生 通用操纵系统所需的功能。 建议的方法提供了一个有效的整合， 手和物体。 它承认联合国的独立性， 物体表面可能传递的力， 操纵者的能力，以产生这些力量。 拟议 控制体系结构基于明斯基的心智社会 范例 操作问题被分解， 离散的“代理”可以计划手指的最佳放置 接触对象。 不同代理的目标是 在更高的层次上进行合理化， 实现了。 尽管这种架构原则上可以 适用于任何灵巧的手，犹他州/麻省理工学院的手已经 专门用于实验。

The overall objective of this project is the creation of a framework for the planning of complex tasks (involving temporal and spatial hand-object relationships) in dexterous manipulation. The hand-object interaction will be exploited to direct a goal oriented manipulation strategy which can produce the functionality required for a general purpose manipulation system. The proposed approach provides an effective integration of the hand and the object. It recognizes the independent nature of the forces that the object`s surface may transmit, and the manipulator`s ability to generate those forces. The proposed control architecture is based on Minsky`s Society of Mind paradigm. The manipulation problem is decomposed so that discrete "agents" can plan the optimal placement of finger contacts on an object. The goals of the different agents are rationalized at a higher level so that a coherent hand strategy is achieved. Although this architecture can, in principle, be applied to any dexterous hand, the Utah/MIT hand has been specifically targeted for experimentation.