By Mario Prats, Pedro J. Sanz
Robot manipulation is a smart problem; it encompasses versatility -adaptation to various situations-, autonomy -independent robotic operation-, and dependability -for good fortune below modeling or sensing mistakes. a whole manipulation activity includes, first, an appropriate clutch or touch configuration, and the next movement required through the duty. This monograph provides a unified framework by means of introducing task-related features into the knowledge-based snatch proposal, resulting in task-oriented grasps.
Similarly, grasp-related matters also are thought of through the execution of a job, resulting in grasp-oriented initiatives referred to as framework for actual interplay (FPI). The e-book offers the theoretical framework for the flexible specification of actual interplay projects, in addition to the matter of independent making plans of those projects. an extra concentration is on sensor-based responsible execution combining 3 types of sensors: strength, imaginative and prescient and tactile.
The FPI process permits to accomplish quite a lot of robotic manipulation projects. All contributions are demonstrated with a number of experiments utilizing diversified actual robots put on family environments; for example, a high-DoF humanoid robotic can effectively function unmodeled mechanisms with greatly various constitution in a normal means with traditional motions.
This study was once recipient of the eu Georges Giralt Award and the Robotdalen clinical Award Honorary Mention.