Dexterous manipulation with general manipulation methodology

摘要

We discuss various kinds of manipulation in this paper. Conventional manipulation is made when an object is rigidly grasped by a robot hand. Previously, different kinds of manipulation, in which a manipulated object is not fixed onto a robot hand, were studied. They have dexterity but uncertainty. In this paper, we give a classification of manipulation, and introduce graspless manipulation and releasing manipulation which are some dexterous manipulation methodologies. Finally, we propose a concept of "cost saving manipulation" which aims at a selection of the easiest and the most suitable series of various manipulation methods.