Robot physical interaction through the combination of vision, tactile and force feedback: applications to assistive robotics
<p>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 config...
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| Format: | Elektronisch E-Book |
| Sprache: | English |
| Veröffentlicht: |
Berlin [u.a.]
Springer
2013
|
| Schriftenreihe: | Springer tracts in advanced robotics
84 |
| Schlagworte: | |
| Online-Zugang: | BTU01 FAB01 FHA01 FHI01 FHN01 FHR01 FKE01 FWS01 UBY01 Volltext Inhaltsverzeichnis Abstract |
| Zusammenfassung: | <p>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. </p><p>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. </p><p>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. </p><p>This research was recipient of the European Georges Giralt Award and the Robotdalen Scientific Award Honorary Mention.</p><p> </p><p> </p> |
| Beschreibung: | Part I -- Part -II -- Part- III. |
| Beschreibung: | 1 Online-Ressource (XVIII, 177 p. 97 illus) BV019551493 |
| ISBN: | 9783642332418 |
| DOI: | 10.1007/978-3-642-33241-8 |
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Datensatz im Suchindex
| DE-BY-FWS_katkey | 481062 |
|---|---|
| _version_ | 1824554326685646848 |
| adam_text | ROBOT PHYSICAL INTERACTION THROUGH THE COMBINATION OF VISION, TACTILE
AND FORCE FEEDBACK
/ PRATS, MARIO
: 2013
TABLE OF CONTENTS / INHALTSVERZEICHNIS
PART I
PART -II
PART- III.
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
ROBOT PHYSICAL INTERACTION THROUGH THE COMBINATION OF VISION, TACTILE
AND FORCE FEEDBACK
/ PRATS, MARIO
: 2013
ABSTRACT / INHALTSTEXT
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.
DIESES SCHRIFTSTUECK WURDE MASCHINELL ERZEUGT.
|
| any_adam_object | 1 |
| author | Prats, Mario |
| author_GND | (DE-588)113882653 |
| author_facet | Prats, Mario |
| author_role | aut |
| author_sort | Prats, Mario |
| author_variant | m p mp |
| building | Verbundindex |
| bvnumber | BV040940407 |
| collection | ZDB-2-ENG |
| ctrlnum | (OCoLC)820500286 (DE-599)BVBBV040940407 |
| dewey-full | 629.892 |
| dewey-hundreds | 600 - Technology (Applied sciences) |
| dewey-ones | 629 - Other branches of engineering |
| dewey-raw | 629.892 |
| dewey-search | 629.892 |
| dewey-sort | 3629.892 |
| dewey-tens | 620 - Engineering and allied operations |
| discipline | Mess-/Steuerungs-/Regelungs-/Automatisierungstechnik / Mechatronik |
| doi_str_mv | 10.1007/978-3-642-33241-8 |
| format | Electronic eBook |
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| id | DE-604.BV040940407 |
| illustrated | Not Illustrated |
| indexdate | 2025-02-20T06:50:00Z |
| institution | BVB |
| isbn | 9783642332418 |
| language | English |
| oai_aleph_id | oai:aleph.bib-bvb.de:BVB01-025919194 |
| oclc_num | 820500286 |
| open_access_boolean | |
| owner | DE-898 DE-BY-UBR DE-634 DE-573 DE-1043 DE-92 DE-Aug4 DE-859 DE-706 DE-863 DE-BY-FWS |
| owner_facet | DE-898 DE-BY-UBR DE-634 DE-573 DE-1043 DE-92 DE-Aug4 DE-859 DE-706 DE-863 DE-BY-FWS |
| physical | 1 Online-Ressource (XVIII, 177 p. 97 illus) BV019551493 |
| psigel | ZDB-2-ENG |
| publishDate | 2013 |
| publishDateSearch | 2013 |
| publishDateSort | 2013 |
| publisher | Springer |
| record_format | marc |
| series | Springer tracts in advanced robotics |
| series2 | Springer tracts in advanced robotics |
| spellingShingle | Prats, Mario Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics Springer tracts in advanced robotics Informatik Ingenieurwissenschaften Künstliche Intelligenz Engineering Computer science Artificial intelligence Taktiler Sensor (DE-588)4184370-8 gnd Kraftsensor (DE-588)4165452-3 gnd Mobiler Roboter (DE-588)4191911-7 gnd Visual servoing (DE-588)7719524-3 gnd Automatische Handlungsplanung (DE-588)4211191-2 gnd Greifmanipulator (DE-588)4214092-4 gnd |
| subject_GND | (DE-588)4184370-8 (DE-588)4165452-3 (DE-588)4191911-7 (DE-588)7719524-3 (DE-588)4211191-2 (DE-588)4214092-4 |
| 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 ; Ángel P. del Pobil ; Ángel P. del Pobil |
| title_fullStr | Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics Mario Prats ; Ángel P. del Pobil ; Ángel P. del Pobil |
| title_full_unstemmed | Robot physical interaction through the combination of vision, tactile and force feedback applications to assistive robotics Mario Prats ; Ángel P. del Pobil ; Ángel P. del Pobil |
| 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 | Informatik Ingenieurwissenschaften Künstliche Intelligenz Engineering Computer science Artificial intelligence Taktiler Sensor (DE-588)4184370-8 gnd Kraftsensor (DE-588)4165452-3 gnd Mobiler Roboter (DE-588)4191911-7 gnd Visual servoing (DE-588)7719524-3 gnd Automatische Handlungsplanung (DE-588)4211191-2 gnd Greifmanipulator (DE-588)4214092-4 gnd |
| topic_facet | Informatik Ingenieurwissenschaften Künstliche Intelligenz Engineering Computer science Artificial intelligence Taktiler Sensor Kraftsensor Mobiler Roboter Visual servoing Automatische Handlungsplanung Greifmanipulator |
| url | https://doi.org/10.1007/978-3-642-33241-8 http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025919194&sequence=000001&line_number=0001&func_code=DB_RECORDS&service_type=MEDIA http://bvbr.bib-bvb.de:8991/F?func=service&doc_library=BVB01&local_base=BVB01&doc_number=025919194&sequence=000003&line_number=0002&func_code=DB_RECORDS&service_type=MEDIA |
| volume_link | (DE-604)BV019551493 |
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