Abstract
SUMMARYTo 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.
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