| 書目名稱 | Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback | | 副標題 | Applications to Assi | | 編輯 | Mario Prats,ángel P. del Pobil,Pedro J. Sanz | | 視頻video | http://file.papertrans.cn/832/831074/831074.mp4 | | 概述 | State-of-the-art versatility, autonomy and dependability of robotic manipulation.Presents novel grasp-task sensor-based control methods using vision, tactile and force feedback, and exploiting joint a | | 叢書名稱 | Springer Tracts in Advanced Robotics | | 圖書封面 |  | | 描述 | .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 human | | 出版日期 | Book 2013 | | 關鍵詞 | Compliant Robotic Physical Interaction; Robotics; Robotics; Tactile control; Task-oriented Grasping; Visu | | 版次 | 1 | | doi | https://doi.org/10.1007/978-3-642-33241-8 | | isbn_softcover | 978-3-642-44315-2 | | isbn_ebook | 978-3-642-33241-8Series ISSN 1610-7438 Series E-ISSN 1610-742X | | issn_series | 1610-7438 | | copyright | Springer-Verlag Berlin Heidelberg 2013 |
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