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A qualitative theoretical framework for ‘common-sense’ based multiple contact robotic manipulation

Published online by Cambridge University Press:  09 March 2009

S.P. Ananthanarayanan ,
A.A. Goldenberg  and
J. Mylopoulos
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Summary

This paper presents a qualitative theoretical formulation for synthesis and analysis of multiple contact dexterous manipulation of an object, using a robot hand. The motivation for a qualitative theory is to build a formalisation of ‘human-like’ common-sense reasoning in robotic manipulation. Using this formalisation, a robot hand can perform finger-tip manipulative movements by analysing the physical laws that govern the robot hand, the object, and their interaction. Traditionally, such analysis have been framed in quantitative terms leading to mathematical systems which become intractable very quickly. Also, quantitative synthesis and analysis, often demand an accurate specification of the parameters in the universe of discourse, which is almost impossible to provide. The qualitative approach inherently encounters both these problems successfully.

The qualitative theory is presented in three developmental stages. A qualitative framework of spatial information in the context of dexterous manipulation has been provided. Qualitative models of an object configuration and transformations in them that occur during a manipulation process, have been developed. Finally, the development of a ‘quasi-static’ qualitative framework of a dexterous manipulation process that performs the desired object transformation, has been presented.

Keywords

Multiple contactDexterous manipulationTheoretical frameworkRobot hand
Type
Article
Information
Robotica , Volume 12 , Issue 2 , March 1994 , pp. 175 - 186
Copyright
Copyright © Cambridge University Press 1994

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