Classification of Motion Constraints by Explorative Manipulation by a Compliant Multi-Fingered Hand

Ryo Fukano; Yasuo Kuniyoshi; Takuya Otani; Takumi Kobayashi; Nobuyuki Otsu

doi:10.20965/jrm.2005.p0645

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JRM Vol.17 No.6 pp. 645-654

doi: 10.20965/jrm.2005.p0645

(2005)

Paper:

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Classification of Motion Constraints by Explorative Manipulation by a Compliant Multi-Fingered Hand

Ryo Fukano^, Yasuo Kuniyoshi^, Takuya Otani^**,
Takumi Kobayashi^*, and Nobuyuki Otsu^***

^*The University of Tokyo, Engr. Bldg.8, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

^**The University of Tokyo, Currently with Toshiba

^***National Institute of Advanced Industrial Science and Technology, The University of Tokyo

Received:

February 4, 2005

Accepted:

July 8, 2005

Published:

December 20, 2005

Keywords:

embodiment intelligence, imitative learning, multi-fingered hand

Abstract

We propose acquiring several properties of an unknown manipulated object, through without using arbitrary information. It consists of explorative manipulation and observation with sensors. By observing self-motion with the target object, it acquires time series sensor data embedded in the motion constraints of the manipulated object. We assume that manipulation features are expressed as a cooperative relation between the fingers and the relation is extractable as a correlation of the time series sensor data. High-order local autocorrelation widely used in image recognition provides the feature vector from data. In feature space, contrastive motion constraints construct the axis of variance. Principal component analysis (PCA) finds the axis mapping constraints. Clustering is used to make classes corresponding to constraints in PCA space. The classes correspond to symbolic representation for the robot. The efficacy of our proposal is demonstrated through simulation and experiments in a task involving opening a screw on lid of unknown size from a bottle.

Cite this article as:

R. Fukano, Y. Kuniyoshi, T. Otani, T. Kobayashi, and N. Otsu, “Classification of Motion Constraints by Explorative Manipulation by a Compliant Multi-Fingered Hand,” J. Robot. Mechatron., Vol.17 No.6, pp. 645-654, 2005.

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References

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[2] K. Ikeuchi, and T. Suehiro, “Toward an assembly plan from observation part i: Task recognition with polyhedral objects,” IEEE Transactions on Robotics and Automation, Vol.10, No.3, pp. 368-385, 1994.
[3] R. Pfeifer, and C. Scheier, “Understanding Intelligence,” The MIT Press, 1999.
[4] K. Honda, T. Hasegawa, T. Kiriki, and T. Matsuoka, “Real-Time Pose Estimation of an Object Manipulated by a Multi-Fingered Hand Using 3-D Stereo Vision and Tactile Sensing,” In Proc. 1998 IEEE/RSJ Int. conf. Intellignt Robots and Systems, pp. 1814-1819, 1998.
[5] Y. Yokokohji, M. Sakamoto, and T. Yoshikawa, “Object Manipulation by Soft Fingers and Vision,” In Preprints of the 9th International Symposium of Robotics research, pp. 297-304, 1999.
[6] R. S. Fearing, “Implementing a Force Strategy for Object Reorientation,” In IEEE Conf. on Robotic and Automation, pp. 96-102, 1986.
[7] R. S. Fearing, “Simplified grasping and manipulation with dextrous robot hands,” IEEE Journal of Robotics and Automation, Vol.2, No.4, pp. 188-195, 1986.
[8] R. Tomovic, and G. Boni, “An adaptive artificial hand,” IRE Trans. Automatic Control, Vol.AC-7, No.3, pp. 3-10, 1962.
[9] S. C. Jacobsen, E. K. Iversen, R. T. Johnson, and K. B. Biggers, “Design of the utah/m.i.t. dextrous hand,” In IEEE International Conference on Robotics and Automation, pp. 1520-1532, 1986.
[10] T. Mouri, H. Kawasaki, K. Yoshikawa, J. Takai, and S. Ito, “Anthropomorphic robot hand: Gifu hand iii,” In Proc. of Int. Conf. ICCAS2002, pp. 1288-1293, 2002.
[11] M. Umetsu, N. Afzulpurkar, Y. Kuniyoshi, and T. Suehiro, “Implemention of a distributed controller for the rwc dexterous hand,” Robotics and Autonomous Systems, Vol.18, pp. 13-19, 1996.
[12] S. Hirose, and S. Ma, “Coupled tendon-driven multijoint manipulator,” In Proc. ICRA, California, pp. 1268-1275, 1991.
[13] N. Otsu, and T. Kurita, “A new scheme for practical flexible and inteligent vision systems,” In Proc. IAPR Workshop on Computer Vision, pp. 431-435, 1988.
[14] D. Comaniciu, and P. Meer, “Mean Shift: A Robust Approach Toward Feature Space Analysis,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.24, No.5, pp. 603-619, 2002.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] Y. Kuniyoshi, M. Inaba, and H. Inoue, “Learning by watching: Extracting reusable task knowledge from visual observation of human performance,” IEEE Transactions on Robotics and Automation, Vol.10, No.6, pp. 799-821, 1994.

[2] [2] K. Ikeuchi, and T. Suehiro, “Toward an assembly plan from observation part i: Task recognition with polyhedral objects,” IEEE Transactions on Robotics and Automation, Vol.10, No.3, pp. 368-385, 1994.

[3] [3] R. Pfeifer, and C. Scheier, “Understanding Intelligence,” The MIT Press, 1999.

[4] [4] K. Honda, T. Hasegawa, T. Kiriki, and T. Matsuoka, “Real-Time Pose Estimation of an Object Manipulated by a Multi-Fingered Hand Using 3-D Stereo Vision and Tactile Sensing,” In Proc. 1998 IEEE/RSJ Int. conf. Intellignt Robots and Systems, pp. 1814-1819, 1998.

[5] [5] Y. Yokokohji, M. Sakamoto, and T. Yoshikawa, “Object Manipulation by Soft Fingers and Vision,” In Preprints of the 9th International Symposium of Robotics research, pp. 297-304, 1999.

[6] [6] R. S. Fearing, “Implementing a Force Strategy for Object Reorientation,” In IEEE Conf. on Robotic and Automation, pp. 96-102, 1986.

[7] [7] R. S. Fearing, “Simplified grasping and manipulation with dextrous robot hands,” IEEE Journal of Robotics and Automation, Vol.2, No.4, pp. 188-195, 1986.

[8] [8] R. Tomovic, and G. Boni, “An adaptive artificial hand,” IRE Trans. Automatic Control, Vol.AC-7, No.3, pp. 3-10, 1962.

[9] [9] S. C. Jacobsen, E. K. Iversen, R. T. Johnson, and K. B. Biggers, “Design of the utah/m.i.t. dextrous hand,” In IEEE International Conference on Robotics and Automation, pp. 1520-1532, 1986.

[10] [10] T. Mouri, H. Kawasaki, K. Yoshikawa, J. Takai, and S. Ito, “Anthropomorphic robot hand: Gifu hand iii,” In Proc. of Int. Conf. ICCAS2002, pp. 1288-1293, 2002.

[11] [11] M. Umetsu, N. Afzulpurkar, Y. Kuniyoshi, and T. Suehiro, “Implemention of a distributed controller for the rwc dexterous hand,” Robotics and Autonomous Systems, Vol.18, pp. 13-19, 1996.

[12] [12] S. Hirose, and S. Ma, “Coupled tendon-driven multijoint manipulator,” In Proc. ICRA, California, pp. 1268-1275, 1991.

[13] [13] N. Otsu, and T. Kurita, “A new scheme for practical flexible and inteligent vision systems,” In Proc. IAPR Workshop on Computer Vision, pp. 431-435, 1988.

[14] [14] D. Comaniciu, and P. Meer, “Mean Shift: A Robust Approach Toward Feature Space Analysis,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol.24, No.5, pp. 603-619, 2002.

Classification of Motion Constraints by Explorative Manipulation by a Compliant Multi-Fingered Hand

Ryo Fukano*, Yasuo Kuniyoshi*, Takuya Otani**, Takumi Kobayashi*, and Nobuyuki Otsu***

Ryo Fukano^, Yasuo Kuniyoshi^, Takuya Otani^**,
Takumi Kobayashi^*, and Nobuyuki Otsu^***