Extraction of Human Manipulative Skills
Heads: Shinichi Hirai
Date: 1992 - 1997
The goal of this project is to establish a technique to extract human skills in manipulation and to transplant these skills in a mechanical manipulator. We have applied our method to the insertion of a deformable tube into a plug.
In the manipulation of deformable soft objects, humans utilize their own manipulation skills. For example, humans determine the motion of the manipulated objects so that the operation can be achieved successfully and easily. In addition, they often modify the object motion adaptively according to the human sensation including visual and force sensing. Humans, however, have a difficulty in describing explicitly their motion control and sensation. Thus, it should be effective to extract human skills during the manipulative operations that deal with deformable objects and to transplant the extracted skills into a mechanical manipulator so that it can perform the operation skillfully as humans do with little human intervention. The goal of this project is to establish a technique to extract human skills in manipulation and to transplant these skills in a mechanical manipulator.
|Gaku Higashiguchi||Graduated||Master of Eng.|