Robot Physical Interaction through the combination of by Mario Prats, Ángel P. del Pobil, Pedro J. Sanz
By Mario Prats, Ángel P. del Pobil, Pedro J. Sanz
Robot manipulation is a brilliant problem; it encompasses versatility -adaptation to various situations-, autonomy -independent robotic operation-, and dependability -for luck less than modeling or sensing blunders. an entire manipulation job comprises, first, an appropriate clutch or touch configuration, and the following movement required via the duty. This monograph offers a unified framework by way of introducing task-related features into the knowledge-based take hold of inspiration, resulting in task-oriented grasps.
Similarly, grasp-related matters also are thought of throughout the execution of a role, resulting in grasp-oriented initiatives also known as framework for actual interplay (FPI). The ebook provides the theoretical framework for the flexible specification of actual interplay initiatives, in addition to the matter of self reliant making plans of those initiatives. yet another concentration is on sensor-based in charge execution combining 3 types of sensors: strength, imaginative and prescient and tactile.
The FPI procedure permits to accomplish quite a lot of robotic manipulation projects. All contributions are proven with numerous experiments utilizing assorted genuine robots put on family environments; for example, a high-DoF humanoid robotic can effectively function unmodeled mechanisms with greatly various constitution in a common means with ordinary motions.
This examine used to be recipient of the eu Georges Giralt Award and the Robotdalen medical Award Honorary Mention.