ACTION 03
Transporting
Moving a held object so that its state on arrival is identical to its state at departure
Why It Matters
Transporting is often treated as a mere gap between grasping and placing, yet if the object's state is compromised in transit, both the preceding and following steps are invalidated. Examples include serving drinks, carrying parcels that sag significantly, and moving painted parts between stations.
Conveyors and AGVs cover only the stretches where the object is rigid and its pose is fixed. For liquids, deformable items, and large objects that one hand cannot secure, transport itself changes their state.
Skills 5
03-ADeformable Object Transport
The hand's motion does not carry through the whole object, so its parts move independently, and its shape and path in transit cannot be predicted.
03-BFlowable Media Transport
The contents move independently of the container, building up momentum with every acceleration and deceleration, and that motion persists after the container stops, so the contents' state is not preserved.
03-COversized Object Transport
The object is too large to grasp with one hand, so it must be carried on several contacts whose balance must be maintained throughout the move.
03-DUnknown-Load Transport
Unseen contents shift inside, so the center of mass becomes known only after lifting and keeps changing in transit.
03-ETethered Object Transport
A line attached to the object stays in contact with the surroundings, so whenever it drags or snags, the pull changes the object's pose regardless of the hand.
