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Author Prats, Mario.

Title Robot physical interaction through the combination of vision, tactile and force feedback : applications to assistive robotics / Mario Prats, Ángel P. del Pobil, and Pedro J. Sanz
Published Berlin ; New York : Springer, [2013]
©2013
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Description 1 online resource
Series Springer tracts in advanced robotics, 1610-7438 ; 84
Springer tracts in advanced robotics ; 84
Contents Robot-Environment Interaction -- A Framework for Sensor-Based Physical Interaction -- Planning of Physical Interaction Tasks -- Physical Interaction: When Only Force Is Available -- Physical Interaction: Adding Vision -- Physical Interaction: The Contribution of Tactile Sensors -- Towards an Assistive Mobile Manipulator -- Conclusions
Summary Robot manipulation is a great challenge; it encompasses versatility -adaptation to different situations-, autonomy -independent robot operation-, and dependability -for success under modeling or sensing errors. A complete manipulation task involves, first, a suitable grasp or contact configuration, and the subsequent motion required by the task. This monograph presents a unified framework by introducing task-related aspects into the knowledge-based grasp concept, leading to task-oriented grasps. Similarly, grasp-related issues are also considered during the execution of a task, leading to grasp-oriented tasks which is called framework for physical interaction (FPI). The book presents the theoretical framework for the versatile specification of physical interaction tasks, as well as the problem of autonomous planning of these tasks. A further focus is on sensor-based dependable execution combining three different types of sensors: force, vision and tactile. The FPI approach allows to perform a wide range of robot manipulation tasks. All contributions are validated with several experiments using different real robots placed on household environments; for instance, a high-DoF humanoid robot can successfully operate unmodeled mechanisms with widely varying structure in a general way with natural motions. This research was recipient of the European Georges Giralt Award and the Robotdalen Scientific Award Honorary Mention
Analysis Engineering
Computer science
Artificial intelligence
Robotics and Automation
User Interfaces and Human Computer Interaction
Bibliography Includes bibliographical references
Subject Autonomous robots.
Human-robot interaction.
Robotics.
Form Electronic book
Author Pobil, Angel Pasqual del.
Sanz, Pedro J.
LC no. 2012946918
ISBN 3642332404
3642332412 (electronic bk.)
9783642332401
9783642332418 (electronic bk.)