Homework 4

1. Although the very act of grasping the pen is too challenging, I think that instructions 6 and 7 are the most difficult to follow for the robot Firstly, instruction 6 requires relative motion between I affector and the rest of the hand and following this instruction would require to predict spatial coordinates of the hooking point will moving along. Secondly, instruction 7 would require the robot to exert the bare minimum force on the pen for gripping while the force should be such that it should allow the rotatory motion about the M and T affectors’s axis



2. All the information related to the visual sensory aspects that needs to be given as an input can be termed as explicit. It can include initial coordinates of the pen and robotic hand, contact points of affectors with the pen etc. The implicit aspects will be finding out the force required to hold the pen, applying pressure for writing etc.
   In this structure, chunks can be applying equal pressure on the sides of the pen, moving affectors such that point of contact is maintained always
   
   
   
3. Human learning might follow reward based learning in certain types of learning. In the case of fire fighter, learning occurs based on experience and trial & error and also by symbolic theft and also on reward basis. Here reward may be social status or satisfaction by helping others or money it offers etc. Experiencing new situations and tackling them with some new ways and then learning if it succeeds or no also contributes to his learning. This learning makes him capable of predicting and analyzing the situations correctly in almost all the cases thus leading to expertise.