Manipulation skill modeling for dexterous hands

摘要

This paper proposes the idea of a manipulation skill mapping for dexterous manipulation task modeling. Mapping between desired object task trajectories and finger contact point locations, this skill mapping can efficiently describe complex manipulation tasks, where contact states of the fingers change during the task. Further issues on how this skill mapping can be acquired and transferred for execution by dexterous robotic hands, are discussed. Examples show the applicability of the proposed scheme.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>