lecture6-08 - Reaching and Grasping: what problems does the...

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Reaching and Grasping: what problems does the brain have to solve?
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Autonomous control: robot is pre-programmed - no human input Problems to be solved: Flipping an Egg 1. Grasp spatula 2. Move to pan 3. Lower spatula to pan 4. Flatten 5. Locate egg locate handle (vision) some mechanism to translate location into arm movement some mechanism for controlling fingers - “passive compliance” locate pan (vision) translate location into arm movement vision or proprioception: lower until force > 0 proprioception: rotate until forces on fingers are equal vision or proprioception: move forwards until horizontal force > 0
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Problems to be solved: Flipping an Egg (ctd) need to keep spatula level: vision or proprioception (keep tension constant) need to learn how much to rotate hand: rotate until forces = 0 Limitations of autonomous control: inflexible - can’t adapt to changed circumstances requires high precision 6. Lift 7. Flip
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: movement controlled by human operator Limitations: feedback delays lead to overshoots - slow Tele-assistance : hybrid system - component of movement controlled by a single sign, or instruction. Combines flexibility of feedback control with speed of
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This note was uploaded on 08/12/2008 for the course PSY 341K taught by Professor Gilden during the Spring '08 term at University of Texas at Austin.

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lecture6-08 - Reaching and Grasping: what problems does the...

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