1. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Generalized Grasping and Manipulation Laboratory for Perceptual Robotics University of Massachusetts Amherst Robert Platt Jr., Andrew Fagg, Roderic Grupen 5/25/2005

2. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Motivation: Human Grasps from Mark Cutkosky, On Grasp Choice, Grasp Models, and the Design of Hands for Manufacturing Tasks, IEEE TRA Vol 5, No. 3, June 1989

3. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE 1.Grasp control 2.Control-based dexterous manipulation 3.Transport and grasp schemas (skills) Outline

4. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Opposition Space from The Grasping Hand, C. MacKenzie, T. Iberall, Springer, 1994

5. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Contact Parameterization of Grasp  grasp 1,2,3  grasp left, right  grasp left left, gravity  grasp palm, fingertips Platt, R., Fagg, A., Grupen R., 2003

6. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Grasp artificial potential displaces contacts to descend wrench-closure error function: Grasp Control:  grasp Coelho, J., Grupen, R., 1997; Platt, R., Fagg, A., Grupen R., 2002

7. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Sliding Grasp Control Video  g  k  f Sliding Grasp Controller:

8. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Four Control Primitives  f grasp control kinematic conditioning collision free motion force control  m  k  g

9. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE  f  g  m  g  k Combining Control Primitives  k  f Carry: Grasp: Platt, R., Fagg, A., Grupen R., 2004

10. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Controller Equivalence Classes: Common Suffix  g  k  f  g  g  k  f  k  g  k  f  m common suffix Platt, R., Fagg, A., Grupen R., 2004

11. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Experiment: Transport Schema

12. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Schematic Transport Skill

13. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Schematic Grasp Skills

14. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Definition of Schema The Action Schema defines: 1.“Abstract” states and actions 2.A deterministic policy through the abstract space to the schema goal 3.A one-to-many mapping from the abstract policy onto instantiations in the underlying system. Subject of learning: What instantiations are appropriate in what execution contexts?

15. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Localize-Reach-Grasp P(transition | blob parameters)

16. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Reach Primitives Position Orientation

17. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results

18. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results: Learning Curves (results averaged over three experiments.)

19. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results: Frictional Surface

20. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results: Bagging Groceries

21. L ABORATORY FOR P ERCEPTUAL R OBOTICS U NIVERSITY OF M ASSACHUSETTS A MHERST D EPARTMENT OF C OMPUTER S CIENCE Pilot Results: Bagging Groceries