Dexterous, in-hand robotic manipulation is the process of perturbing a stably grasped object from arbitrary pose A to a desired pose B by appropriately controlling the robotic fingers.
What are in your opinion the most important practical, everyday life applications of such a dexterous robotic manipulation?
For example, in the case of a robot arm hand system both the arm and the hand contribute to the dexterity. I am particularly interested in applications that render hand dexterity absolutely necessary.
In other words, what tasks / applications require a dexterous hand because they cannot be efficiently executed with a simple arm-gripper system?
On dexterity and dexterous manipulation
- DOI: 10.1109/ICAR.2011.6088576
- Conference: Advanced Robotics (ICAR), 2011 15th International Conference on
Dear Minas Liarokapis
Assume the robot as a human, and find the correspondence in every-day life applications. For example, when a human is welding a joint of a mechanical structure under sea using snorkelers, then his hand will be perturbed by any minute movement of his body or water wave, and he should be dexterous in his grasp not to loose the object in his hands, otherwise it would be probably difficult to look and search for the object under sea. Now, consider, the human is replaced by a robot, then the same dexterous in-hand manipulation is necessary and critical. There are too many other examples for such cases, as a workingman doing welding at the height of a building structure over the scaffold. You should only think about human tasks in every-day life, and then correspond it to a robot which is asked to be tasked with those jobs.
Dear Minas Liarokapis
I am baffled on what you mean by hand and arm. As I see in hand anatomy images in Google, the main parts are arm, fore-arm, hand and fingers. So I guess by arm you mean the fore-arm. If this is the case, then I can answer your query. If you consider fore-arm and hand, as two links of a moving mechanism, then it would be more convenient for the mechanism to be of two parts (fore-arm and hand), since for some tasks/applications, accomplishing the duty would be performed easier with these two degrees of freedom (2DOF) linkage system in a planar scope. If you also add fingers to the linkage system, it would be even much easier to do the task. So we can imagine how difficult it would be for a human-being to run, if the knee-joint is locked. It means the foot was only one linkage excluding the paws. Certainly walking in this situation would be tough. Similarly, for a robot, it would be difficult to perform a dexterous hand operation if there were only one fore-arm without hand. There are some theoretical discussions about such dynamic situations in this regard, as the non-holonomic constraints. For another example, consider a unicycle car which has two fixed-orientation rear-wheels and one steerable front-wheel. So the maneuverability of such a vehicle is restricted as it cannot turn around itself with any desired radius of curvature. It cannot be also steered to any point of its moving surface in a simple motion. This is technically termed nonholonomy. Having more moving linkages, adds to degrees of freedom of a robotic hand, hence it can freely do the task with a dexterity, if the controller performs adequately suitable.
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