Dextrous Manipulation

该项目的总体目标是创建一个框架，用于规划灵活操作中的复杂任务(包括时间和空间上的手-物关系)。将利用手-对象交互来指导面向目标的操作策略，该策略可以产生通用操作系统所需的功能。所提出的方法提供了手和物体的有效结合。它认识到物体表面可能传递的力的独立性质，以及操纵器产生这些力的能力。所提出的控制体系结构是基于Minsky的心理社会范式。对操作问题进行分解，以便离散的“代理”可以规划手指接触在对象上的最优位置。不同智能体的目标在更高的层次上被合理化，从而实现了一致的手策略。虽然这种结构原则上可以应用于任何灵巧的手，但犹他州/麻省理工学院的手是专门用于实验的。

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.