In the robot manipulation field, a dexterous and easy manipulation method which uses the environment around an object is defined as graspless manipulation. This has high dexterity, but also has high complexity to make a plan of how to move an object and fingers. We introduce a "skill based control system" to solve this problem. Skill describes one fixed form of operation; grasping a cylinder, grasping a box, tumbling a box etc. By describing complex but fixed form operation of fingers as a skill, programming cost of the user application is reduced. We use a box picking-up operation as an example of a dexterous task and experiment with a multi-fingered hand system.
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