  This paper introduces a taxonomy of manipulations as seen especially in
cooking for 1) grouping manipulations from the robotics point of view, 2)
consolidating aliases and removing ambiguity for motion types, and 3) provide a
path to transferring learned manipulations to new unlearned manipulations.
Using instructional videos as a reference, we selected a list of common
manipulation motions seen in cooking activities grouped into similar motions
based on several trajectory and contact attributes. Manipulation codes are then
developed based on the taxonomy attributes to represent the manipulation
motions. The manipulation taxonomy is then used for comparing motion data in
the Daily Interactive Manipulation (DIM) data set to reveal their motion
similarities.
