Robot physical interaction through the combination of vision, tactile and force feedback: applications to assistive robotics
Gespeichert in:
| Hauptverfasser: | , , |
|---|---|
| Format: | Buch |
| Sprache: | English |
| Veröffentlicht: |
Berlin [u.a.]
Springer
2013
|
| Schriftenreihe: | Springer tracts in advanced robotics
84 |
| Schlagworte: | |
| Online-Zugang: | Inhaltstext Inhaltsverzeichnis |
| Beschreibung: | Based on the first author's doctoral thesis |
| Beschreibung: | XVIII, 177 S. graph. Darst. 235 mm x 155 mm |
| ISBN: | 3642332404 9783642332401 9783642332418 |
Internformat
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| 100 | 1 | |a Prats, Mario |e Verfasser |4 aut | |
| 245 | 1 | 0 | |a Robot physical interaction through the combination of vision, tactile and force feedback |b applications to assistive robotics |c Mario Prats ; Angel P. del Pobil ; Pedro J. Sanz |
| 264 | 1 | |a Berlin [u.a.] |b Springer |c 2013 | |
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| 700 | 1 | |a Sanz, Pedro J. |e Verfasser |4 aut | |
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Datensatz im Suchindex
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| adam_text |
IMAGE 1
CONTENTS
1 INTRODUCTION 1
2 ROBOT-ENVIRONMENT INTERACTION 7
2.1 BRIEF INTRODUCTION 7
2.2 PREVIOUS APPROACHES 7
2.2.1 ROBOTIC GRASPING 8
2.2.2 ROBOTIC TASK EXECUTION 11
2.2.3 CRITICAL DISCUSSION 13
2.3 OUR APPROACH 14
2.3.1 TASK-ORIENTED GRASPS AND GRASP-ORIENTED TASKS 14
2.3.2 THE CONCEPT OF PHYSICAL INTERACTION 15
2.3.3 METHODOLOGY 16
3 A FRAMEWORK FOR SENSOR-BASED PHYSICAL INTERACTION 19
3.1 BRIEF INTRODUCTION 19
3.2 THE TASK FRAME FORMALISM 2 0
3.2.1 CONCEPT 20
3.2.2 DETAILS 21
3.2.3 LIMITATIONS AND ALTERNATIVES 22
3.3 GRASP PRESHAPES AND SHAPE PRIMITIVES 24
3.4 A FRAMEWORK FOR PHYSICAL INTERACTION: THE GRASP MEETS THE TASK (AND
VICE VERSA) 26
3.4.1 THE PHYSICAL INTERACTION FRAMES 27
3.4.2 A PHYSICAL INTERACTION TASK 28
3.4.3 EXECUTION 31
3.4.4 USE O F TOOLS 36
3.4.5 TWO-HAND MANIPULATION 37
3.5 DISCUSSION AND CONCLUSIONS 38
HTTP://D-NB.INFO/1025058631
IMAGE 2
X V I CONTENTS
4 PLANNING O F PHYSICAL INTERACTION TASKS 39
4.1 BRIEF INTRODUCTION 39
4.2 TASK-ORIENTED HAND PRESHAPES 40
4.2.1 MAPPING TO THE BARRETT HAND 43
4.2.2 MAPPING TO A PARALLEL JAW GRIPPER 44
4.3 OBJECT REPRESENTATION 45
4.3.1 OBJECT STRUCTURAL MODEL 45
4.3.2 CLASSIFICATION OF OBJECT PARTS 46
4.3.3 NOTE ON OBJECT MODELS 48
4.4 TASK DESCRIPTION 49
4.5 PLANNING 50
4.5.1 THE GRASP 50
4.5.2 THE TASK 52
4.6 DISCUSSION AND CONCLUSION 52
5 PHYSICAL INTERACTION: WHEN ONLY FORCE IS AVAILABLE 55
5.1 BRIEF INTRODUCTION 55
5.2 INTERACTION CONTROL 56
5.2.1 IMPEDANCE CONTROL AND ACTIVE STIFFNESS 56
5.2.2 PARALLEL HYBRID POSITION-FORCE CONTROL 58
5.2.3 EXTERNAL POSITION-FORCE CONTROL 60
5.3 THE ROLE O F FORCE FEEDBACK DURING PHYSICAL INTERACTION 6 0
5.3.1 FORCE CONTROL FOR GRASPING 61
5.3.2 FORCE CONTROL FOR INTERACTION 65
5.3.3 FORCE-BASED ESTIMATION O F THE GRASP LINK 65
5.4 PRACTICAL IMPLEMENTATION: THE ARMAR-III HUMANOID ROBOT 67 5.4.1
EXPERIMENTAL ENVIRONMENT 67
5.4.2 PHYSICAL INTERACTION PLANNING AND SPECIFICATION 68
5.4.3 THE PHYSICAL INTERACTION CONTROLLER 69
5.4.4 EXPERIMENTAL RESULTS 74
5.5 DISCUSSION AND CONCLUSIONS 76
6 PHYSICAL INTERACTION: ADDING VISION 79
6.1 BRIEF INTRODUCTION 79
6.2 VISUAL CONTROL OF MANIPULATORS 80
6.2.1 VISUAL SERVOING FUNDAMENTALS 81
6.2.2 VISION-BASED OBJECT POSE ESTIMATION 82
6.3 VISION-FORCE CONTROL 90
6.3.1 HYBRID VISION-FORCE CONTROL 91
6.3.2 IMPEDANCE VISION-FORCE CONTROL 93
6.3.3 EXTERNAL HYBRID VISION-FORCE CONTROL 93
6.4 VISION-FORCE SUITABILITY FOR PHYSICAL INTERACTION 97
6.4.1 VISION-FORCE CONTROL FOR GRASPING 98
6.4.2 VISION-FORCE CONTROL FOR INTERACTION 100
IMAGE 3
CONTENTS XVII
6.5 PRACTICAL IMPLEMENTATION: ISRC MOBILE MANIPULATOR 100
6.5.1 DESCRIPTION O F THE SYSTEM 101
6.5.2 VISION-FORCE CONTROL FOR EVERYDAY TASKS 102
6.5.3 PHYSICAL INTERACTION 104
6.6 DISCUSSION AND CONCLUSIONS 108
7 PHYSICAL INTERACTION: THE CONTRIBUTION O F TACTILE SENSORS I L L
7.1 BRIEF INTRODUCTION I L L
7.2 TACTILE CONTROL 112
7.3 OUR APPROACH TO VISION-TACTILE-FORCE CONTROL 113
7.3.1 POSITION CONTROLLER 115
7.3.2 VISION CONTROLLER 117
7.3.3 TACTILE CONTROLLER 117
7.3.4 FORCE CONTROLLER 119
7.4 VISION-TACTILE-FORCE SUITABILITY FOR PHYSICAL INTERACTION 119
7.4.1 VISION-TACTILE-FORCE CONTROL FOR GRASPING 120
7.4.2 VISION-TACTILE-FORCE CONTROL FOR INTERACTION 121
7.5 PRACTICAL IMPLEMENTATION: THE UJI SERVICE ROBOT 122
7.5.1 TASK DESCRIPTION 122
7.5.2 RESULTS 124
7.6 DISCUSSION AND CONCLUSIONS 127
8 TOWARDS AN ASSISTIVE MOBILE MANIPULATOR 129
8.1 BRIEF INTRODUCTION 129
8.2 DESCRIPTION O F THE SYSTEM 130
8.3 CONTROL ARCHITECTURE 131
8.3.1 PERCEPTIONS 132
8.3.2 ACTIONS 133
8.3.3 ABILITIES 134
8.4 PHYSICAL INTERACTION ABILITIES 135
8.4.1 DOOR OPENING 135
8.4.2 BOOK GRASPING 138
8.5 THE UJI LIBRARIAN ROBOT 142
8.5.1 PLANE ESTIMATION 144
8.5.2 SEGMENTATION 146
8.5.3 PROBABILISTIC MATCHING, MOTION ESTIMATION AND SELECTION . . . 148
8.5.4 OPTICAL CHARACTER RECOGNITION 150
8.6 TOWARDS A MULTIPURPOSE SERVICE ROBOT 151
8.6.1 VISION-BASED LOCALIZATION O F OBJECTS 151
8.6.2 GENERAL PHYSICAL INTERACTION 154
8.6.3 REMOTE PHYSICAL INTERACTION 155
8.7 DISCUSSION AND CONCLUSIONS 156
IMAGE 4
X V I I I
CONTENTS
9 CONCLUSIONS 159
9.1 CONTRIBUTIONS 161
9.2 FUTURE LINES 163
9.2.1 PURPOSIVE USE O F OBJECTS 163
9.2.2 PLATFORM MOBILITY 164
9.2.3 OBJECT RECOGNITION 164
9.2.4 AUTOMATIC SETTING O F CONTROL PARAMETERS 164
9.2.5 APPLICATION TO AUTONOMOUS UNDERWATER MANIPULATION 165
REFERENCES 1 67 |
| any_adam_object | 1 |
| author | Prats, Mario Pobil, Angel Pasqual del Sanz, Pedro J. |
| author_GND | (DE-588)113882653 |
| author_facet | Prats, Mario Pobil, Angel Pasqual del Sanz, Pedro J. |
| author_role | aut aut aut |
| author_sort | Prats, Mario |
| author_variant | m p mp a p d p apd apdp p j s pj pjs |
| building | Verbundindex |
| bvnumber | BV040940312 |
| classification_tum | DAT 815f |
| ctrlnum | (OCoLC)822015609 (DE-599)DNB1025058631 |
| dewey-full | 629.893 629.89263 620 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering 620 - Engineering and allied operations |
| dewey-raw | 629.893 629.89263 620 |
| dewey-search | 629.893 629.89263 620 |
| dewey-sort | 3629.893 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Informatik Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| format | Book |
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| id | DE-604.BV040940312 |
| illustrated | Illustrated |
| indexdate | 2024-08-21T00:41:02Z |
| institution | BVB |
| isbn | 3642332404 9783642332401 9783642332418 |
| language | English |
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| owner_facet | DE-91 DE-BY-TUM |
| physical | XVIII, 177 S. graph. Darst. 235 mm x 155 mm |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | Springer |
| record_format | marc |
| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spelling | Prats, Mario Verfasser aut Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics Mario Prats ; Angel P. del Pobil ; Pedro J. Sanz Berlin [u.a.] Springer 2013 XVIII, 177 S. graph. Darst. 235 mm x 155 mm txt rdacontent n rdamedia nc rdacarrier Springer tracts in advanced robotics 84 Based on the first author's doctoral thesis Greifmanipulator (DE-588)4214092-4 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 gnd rswk-swf Visual servoing (DE-588)7719524-3 gnd rswk-swf Kraftsensor (DE-588)4165452-3 gnd rswk-swf Taktiler Sensor (DE-588)4184370-8 gnd rswk-swf Automatische Handlungsplanung (DE-588)4211191-2 gnd rswk-swf Mobiler Roboter (DE-588)4191911-7 s Greifmanipulator (DE-588)4214092-4 s Automatische Handlungsplanung (DE-588)4211191-2 s Taktiler Sensor (DE-588)4184370-8 s Kraftsensor (DE-588)4165452-3 s Visual servoing (DE-588)7719524-3 s DE-604 Pobil, Angel Pasqual del Verfasser (DE-588)113882653 aut Sanz, Pedro J. Verfasser aut Springer tracts in advanced robotics 84 (DE-604)BV016421724 84 text/html http://deposit.dnb.de/cgi-bin/dokserv?id=4099754&prov=M&dok_var=1&dok_ext=htm Inhaltstext DNB Datenaustausch application/pdf http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025919085&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA Inhaltsverzeichnis |
| spellingShingle | Prats, Mario Pobil, Angel Pasqual del Sanz, Pedro J. Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics Springer tracts in advanced robotics Greifmanipulator (DE-588)4214092-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd Visual servoing (DE-588)7719524-3 gnd Kraftsensor (DE-588)4165452-3 gnd Taktiler Sensor (DE-588)4184370-8 gnd Automatische Handlungsplanung (DE-588)4211191-2 gnd |
| subject_GND | (DE-588)4214092-4 (DE-588)4191911-7 (DE-588)7719524-3 (DE-588)4165452-3 (DE-588)4184370-8 (DE-588)4211191-2 |
| title | Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics |
| title_auth | Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics |
| title_exact_search | Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics |
| title_full | Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics Mario Prats ; Angel P. del Pobil ; Pedro J. Sanz |
| title_fullStr | Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics Mario Prats ; Angel P. del Pobil ; Pedro J. Sanz |
| title_full_unstemmed | Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics Mario Prats ; Angel P. del Pobil ; Pedro J. Sanz |
| title_short | Robot physical interaction through the combination of vision, tactile and force feedback |
| title_sort | robot physical interaction through the combination of vision tactile and force feedback applications to assistive robotics |
| title_sub | applications to assistive robotics |
| topic | Greifmanipulator (DE-588)4214092-4 gnd Mobiler Roboter (DE-588)4191911-7 gnd Visual servoing (DE-588)7719524-3 gnd Kraftsensor (DE-588)4165452-3 gnd Taktiler Sensor (DE-588)4184370-8 gnd Automatische Handlungsplanung (DE-588)4211191-2 gnd |
| topic_facet | Greifmanipulator Mobiler Roboter Visual servoing Kraftsensor Taktiler Sensor Automatische Handlungsplanung |
| url | http://deposit.dnb.de/cgi-bin/dokserv?id=4099754&prov=M&dok_var=1&dok_ext=htm http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025919085&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV016421724 |
| work_keys_str_mv | AT pratsmario robotphysicalinteractionthroughthecombinationofvisiontactileandforcefeedbackapplicationstoassistiverobotics AT pobilangelpasqualdel robotphysicalinteractionthroughthecombinationofvisiontactileandforcefeedbackapplicationstoassistiverobotics AT sanzpedroj robotphysicalinteractionthroughthecombinationofvisiontactileandforcefeedbackapplicationstoassistiverobotics |