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A discrete-event systems approach to modeling dextrous manipulation

Published online by Cambridge University Press:  09 March 2009

S.L. Ricker ,
N. Sarkar  and
K. Rudiet
S.L. Ricker
Affiliation:
Department of Computing and Information Science.
N. Sarkar
Affiliation:
Department of Computing and Information Science. Department of Mechanical Engineering.
K. Rudiet
Affiliation:
Department of Computing and Information Science. Department of Mechanical Engineering. Department of Electrical and Computer Engineering, Queen's University, Kingston, Ontario (Canada) K7L 3N6.
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Summary

To perform dextrous manipulation efficiently, it is necessary to coordinate the interactions of many component processes. This paper investigates one approach to coordination: discrete-event systems. The applicability of discrete-event systems to the modeling of dextrous manipulation tasks is studied. Discrete-event control theory offers formal methods for determining whether a coordinator of the components can be generated. A representative dextrous manipulation task, the planar Grasp-Lift-Replace task of Howe and Cutkosky, is presented as a discrete-event process. The task is extended to include two-fingered exploratory procedures. The effectiveness of the discrete-event system approach is illustrated through simulations of several test cases.

Keywords

Dextrous manipulationDiscrete-event systemControl theory
Type
Article
Information
Robotica , Volume 14 , Issue 5 , September 1996 , pp. 515 - 525
Copyright
Copyright © Cambridge University Press 1996

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