Sketches of problems

dexterous manipulation

This is relevant to the problem domain known as "pick-and-place" but which is also variously categorized as "dexterous manipulation"

• We need to formalize the description (in a three-dimensional Euclidean space) of:
  • shape of and modified dynamics due to each end-effector
  • objects that are being grasped
  • positioning of end effectors relative to the items of interest
  • moving obstacles that come into the workspace, including humans.
  • specifications (including assumptions on obstacles) These will give us the parameters to vary when generating examples.