Mechanical assembly based on motion primitives of multi-fingered hand

摘要

Summary form only given. The system we propose is a bridge between a hardware-oriented control system and a task-level description of mechanical assembly. Writing an executable program for the multi-fingered hand requires wide varieties of expertise. To cope with these problems, we propose a task execution system based on motion primitives for our multi-fingered robot hand system. The robotic mechanical assembly process is defined as a sequence of achieving different intermediate states of contact among mechanical parts until parts are fixed as specified. When a task is given, a programmer divides the motion of the manipulated object into several motion primitives each of which has a particular target state to be achieved in the task context. He can then describes a task program as a sequence of these motion primitives without knowing a specific hand configuration. We have developed a manipulation system with multi-fingered hand and multi-sensors. The vision system is composed of a pair of CCD cameras, a video input board and a video rate convolution board.