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Title: Robotics research toward explication of everyday physics

Abstract

It is commonly recognized now at the end of the 20th century that a general 6- or 7-degree-of-freedom robot equipped with an end-effector with simple structure is clumsy in performing a variety of ordinary tasks that a human encounters in his or her everyday life. In this paper, it is claimed that the clumsiness manifests the lack of knowledge of everyday physics. It is then shown that even dynamics of a set of dual fingers grasping and manipulating a rigid object are not yet formulated with the fingers' ends are covered by soft and deformable materials. By illustrating this typical problem of everyday physics, it is pointed out that explication of everyday physics in computational (or mathematical) languages is inevitable for consideration of how to endow a robot with dexterity and versatility. Once kinematics and dynamics involved in such everyday tasks are described, it is then possible to discover a simple but fine control structure without the need of much computation of kinematics and dynamics. Simplicity of the control structure implies robustness against parameter uncertainties, which eventually allows the control to perform tasks with dexterity and versatility by using visual or tactile sensing feedback. Thus, a key to uncover themore » hidden secret of dexterity is to characterize complicated dynamics of such a robotic task as seen when a set of multifingers with multijoints covered by deformable material interacts physically with objects or an environment. It is pointed out throughout the paper that some of the generic characteristics of dynamics that everyday physics encounters must be passivity, approximate Jacobian matrix of coordinates transformation, feedback loops from sensation to action, impedance matching, and static friction.« less

Authors:
Publication Date:
Research Org.:
Ritsumeikan Univ., Shiga (JP)
OSTI Identifier:
20005584
Resource Type:
Journal Article
Journal Name:
International Journal of Robotics Research
Additional Journal Information:
Journal Volume: 18; Journal Issue: 11; Other Information: PBD: Nov 1999; Journal ID: ISSN 0278-3649
Country of Publication:
United States
Language:
English
Subject:
32 ENERGY CONSERVATION, CONSUMPTION, AND UTILIZATION; 99 MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE; ROBOTS; DEGREES OF FREEDOM; PHYSICS; MOTION; RESEARCH PROGRAMS; MECHANICS

Citation Formats

Arimoto, Suguru. Robotics research toward explication of everyday physics. United States: N. p., 1999. Web. doi:10.1177/02783649922067717.
Arimoto, Suguru. Robotics research toward explication of everyday physics. United States. doi:10.1177/02783649922067717.
Arimoto, Suguru. Mon . "Robotics research toward explication of everyday physics". United States. doi:10.1177/02783649922067717.
@article{osti_20005584,
title = {Robotics research toward explication of everyday physics},
author = {Arimoto, Suguru},
abstractNote = {It is commonly recognized now at the end of the 20th century that a general 6- or 7-degree-of-freedom robot equipped with an end-effector with simple structure is clumsy in performing a variety of ordinary tasks that a human encounters in his or her everyday life. In this paper, it is claimed that the clumsiness manifests the lack of knowledge of everyday physics. It is then shown that even dynamics of a set of dual fingers grasping and manipulating a rigid object are not yet formulated with the fingers' ends are covered by soft and deformable materials. By illustrating this typical problem of everyday physics, it is pointed out that explication of everyday physics in computational (or mathematical) languages is inevitable for consideration of how to endow a robot with dexterity and versatility. Once kinematics and dynamics involved in such everyday tasks are described, it is then possible to discover a simple but fine control structure without the need of much computation of kinematics and dynamics. Simplicity of the control structure implies robustness against parameter uncertainties, which eventually allows the control to perform tasks with dexterity and versatility by using visual or tactile sensing feedback. Thus, a key to uncover the hidden secret of dexterity is to characterize complicated dynamics of such a robotic task as seen when a set of multifingers with multijoints covered by deformable material interacts physically with objects or an environment. It is pointed out throughout the paper that some of the generic characteristics of dynamics that everyday physics encounters must be passivity, approximate Jacobian matrix of coordinates transformation, feedback loops from sensation to action, impedance matching, and static friction.},
doi = {10.1177/02783649922067717},
journal = {International Journal of Robotics Research},
issn = {0278-3649},
number = 11,
volume = 18,
place = {United States},
year = {1999},
month = {11}
}