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    Policies for Goal Directed Multi-Finger Manipulation

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    Date
    2012
    Author
    Andrews, Sheldon
    Kry, Paul G.
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    Abstract
    We present a method for one-handed task based manipulation of objects. Our approach uses a mid-level multiphase approach to break the problem into three parts, providing an appropriate control strategy for each phase and resulting in cyclic finger motions that accomplish the task. All motion is physically based, and guided by a policy computed for a particular task. The exact trajectory is never specified as the goal of our different tasks are concerned with the final orientation and position of the object. The offline simulations used to learn the policy are effective solutions for the task, but an important aspect of our work is that the policy is general enough to be used online in real time. We present two manipulation tasks and discuss their performance along with limitations.
    BibTeX
    @inproceedings {PE:vriphys:vriphys12:137-145,
    booktitle = {Workshop on Virtual Reality Interaction and Physical Simulation},
    editor = {Jan Bender and Arjan Kuijper and Dieter W. Fellner and Eric Guerin},
    title = {{Policies for Goal Directed Multi-Finger Manipulation}},
    author = {Andrews, Sheldon and Kry, Paul G.},
    year = {2012},
    publisher = {The Eurographics Association},
    ISBN = {978-3-905673-96-8},
    DOI = {10.2312/PE/vriphys/vriphys12/137-145}
    }
    URI
    http://dx.doi.org/10.2312/PE/vriphys/vriphys12/137-145
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    Eurographics Association copyright © 2013 - 2020 
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    Theme by @mire NV
    System hosted at  Graz University of Technology.
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