Springer Tracts in Advanced Robotics

Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback

Applications to Assistive Robotics

Authors: Prats, Mario, Pobil, Ángel P. del, Sanz, Pedro J.

  • 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
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  • ISBN 978-3-642-44315-2
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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)


Table of contents (9 chapters)

  • Introduction

    Prats, Mario (et al.)

    Pages 1-5

  • Robot-Environment Interaction

    Prats, Mario (et al.)

    Pages 7-17

  • A Framework for Sensor-Based Physical Interaction

    Prats, Mario (et al.)

    Pages 19-38

  • Planning of Physical Interaction Tasks

    Prats, Mario (et al.)

    Pages 39-53

  • Physical Interaction: When Only Force Is Available

    Prats, Mario (et al.)

    Pages 55-77

Buy this book

eBook $109.00
price for USA (gross)
valid through November 5, 2017
  • ISBN 978-3-642-33241-8
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover $139.00
price for USA
valid through November 5, 2017
  • ISBN 978-3-642-33240-1
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Softcover $139.00
price for USA
valid through November 5, 2017
  • ISBN 978-3-642-44315-2
  • Free shipping for individuals worldwide
  • Usually dispatched within 3 to 5 business days.
Rent the eBook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback
Book Subtitle
Applications to Assistive Robotics
Authors
Series Title
Springer Tracts in Advanced Robotics
Series Volume
84
Copyright
2013
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag Berlin Heidelberg
eBook ISBN
978-3-642-33241-8
DOI
10.1007/978-3-642-33241-8
Hardcover ISBN
978-3-642-33240-1
Softcover ISBN
978-3-642-44315-2
Series ISSN
1610-7438
Edition Number
1
Number of Pages
XVIII, 178
Topics