Figure 1 Several examples of MTM-1 elements in action.
Related Figures (6)
Fig. 2. A depiction of the reach task program in action. This figure shows the process of reaching to a broom in a simulated real-world environment in a collision-free manner. 4) Release: Release is used to release the grasp on an object. It utilizes a “rest” posture for the robot hand and generates joint-space trajectories to drive the fingers from the current grasping configuration to the rest posture. Thus, it is equivalent to the MTM-1 “normal” release (see Section IlI-F). Fig. 4. Using release to relinquish the grip on the vacuum Fig. 3. Depiction of using the grasp program to clutch a tennis ball Grasp currently implements only one of the five subcate- gories of the MTM-1 grasp element, that of the “pick up” grasp. “Regrasping” and “transfer grasping”, though not cur- rently handled, could be added to the grasp program without much difficulty. However, grasping among a tion of objects and grasps that require comp jumbled collec- ex interactions with the environment (i.e., the “contact”, “slid e”, and “hook” grasps) present significant obstacles to implementation. Thus, the reach program is currently far less expressive than its corresponding MTM-1! element. the fixate program and the eye movements element accom- plish the same task, that of looking at a specific location. Fig. 5. Depiction of the action of the fixate program; the simulated robot is commanded to focus on the vacuum. The robot turns on its base while simultaneously orienting its head. Fig. 6. Using a complex behavior composed of fixate, position, and release to put down an object Fig. 7. _ Using a complex behavior composed of position and fixate tc simulated vacuuming debris
