Overview
- 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 and grasp redundancy
- Comprises the PhD thesis of Mario Prats, recently awarded with the 2011 Georges Giralt Award to the best PhD thesis about robotics in Europe
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 84)
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Table of contents (9 chapters)
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Front Matter
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Back Matter
Keywords
About this book
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.
Reviews
From the reviews:
“This book is framed within the field of assistive manipulator robots. In particular, it focuses on the integration of grasp-based and task-based approaches in manipulator robots. … The book is well structured. … The audience of this book includes researchers, PhD students, and postgraduate students. The book will also be of interest to robotic companies that develop manipulator robots, because the proposed framework is far beyond the typical pick-and-place applications, and would help to develop more challenging robots.” (Ramon Gonzalez Sanchez, ACM Computing Reviews, February, 2013)
Authors and Affiliations
Bibliographic Information
Book Title: Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback
Book Subtitle: Applications to Assistive Robotics
Authors: Mario Prats, Ángel P. del Pobil, Pedro J. Sanz
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/978-3-642-33241-8
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2013
Hardcover ISBN: 978-3-642-33240-1Published: 05 October 2012
Softcover ISBN: 978-3-642-44315-2Published: 09 November 2014
eBook ISBN: 978-3-642-33241-8Published: 05 October 2012
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XVIII, 178
Topics: Robotics and Automation, Artificial Intelligence, User Interfaces and Human Computer Interaction