Representation, Recall, and Replay of Tool Operation with Target State Transition

Abstract

When a human manipulates a tool, the person not just grasps it but also may manipulates it with hands and ngers, so that it change its orientation and position, or deform the shape. Furthermore, according to the state transition of such object, the next operation is performed as a larger scale process by a series of such operations. We discuss what is necessary to and how to describe such manipulation process and reproduce the behavior by a robot.