Page 7 - Human Inspired Dexterity in Robotic Manipulation

CHAPTER 1

Background: Dexterity in Robotic

Manipulation by Imitating Human

Beings

Tetsuyou Watanabe
Faculty of Mechanical Engineering, Institute of Science and Engineering,
Kanazawa University, Kanazawa, Japan

Contents
1.1 Background 1
1.2 Complemental Information 3
1.2.1 Statistically Significant Difference 3
1.2.2 State Space Representation 4
1.2.3 Mechanical Impedance 5
1.2.4 Fundamental Grasping Style 5
1.2.5 Kinematics and Statics of Robots 6
1.2.6 Dynamics of Robots 6
References 7

1.1 BACKGROUND

Human beings have been a kind of textbook for constructing robots because
robots perform the tasks that humans do in the support of human beings.
However, there are a lot of unrevealed things about human beings. Even
if knowledge is given, how to utilize that knowledge during the develop-
ment of robots is on a case by case basis and there are no general method-
ologies to effectively transfer the knowledge during the development
process. It is impossible to deal with all aspects of human beings. This text
is focused on dexterity and aims to understand how human beings acquire
dexterity in object manipulation, discusses the possibility of its application in
robotic systems, and draws key strategies for dealing with robotic dexterous
manipulation in the next generation.
Here, we are focused on up-to-date research about human functions and
the method for transferring the functions to robotic manipulation.

Human Inspired Dexterity in Robotic Manipulation © 2018 Elsevier Inc.
https://doi.org/10.1016/B978-0-12-813385-9.00001-7 All rights reserved. 1