By Mario Prats, Ángel P. del Pobil, Pedro J. Sanz
Robot manipulation is a brilliant problem; it encompasses versatility -adaptation to diverse situations-, autonomy -independent robotic operation-, and dependability -for luck less than modeling or sensing blunders. a whole manipulation job comprises, first, an appropriate seize or touch configuration, and the following movement required by means of the duty. This monograph provides a unified framework via introducing task-related facets into the knowledge-based snatch proposal, resulting in task-oriented grasps.
Similarly, grasp-related matters also are thought of in the course of the execution of a role, resulting in grasp-oriented projects also known 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 initiatives. one more concentration is on sensor-based liable execution combining 3 types of sensors: strength, imaginative and prescient and tactile.
The FPI method permits to accomplish a variety of robotic manipulation initiatives. All contributions are established with numerous experiments utilizing varied actual robots put on loved ones environments; for example, a high-DoF humanoid robotic can effectively function unmodeled mechanisms with generally various constitution in a common manner with traditional motions.
This examine was once recipient of the ecu Georges Giralt Award and the Robotdalen medical Award Honorary Mention.
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Robotic 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 error. a whole manipulation activity includes, first, an appropriate take hold of or touch configuration, and the following movement required by means of the duty.
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Extra info for Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback: Applications to Assistive Robotics
A feature can be a point contact, a line contact, a plane contact or an helical joint (which include the prismatic and revolute joints). As in the TFF, the choice of the particular feature frames affects to the specification complexity, although the physical meaning remains invariant. Bruyninckx et al.  suggested several guidelines for appropriately setting the feature frames depending on the joint type: for contact features, the origin can be set at the contact point, with one axis aligned with the contact normal; for a joint, the origin can be set somewhere in the joint axis, with a frame axis aligned with it.
In general, any compliant motion involves the lost of some degrees of freedom at the end-effector. A robotic manipulator intended for compliant motion needs a task representation and specification approach that allows the programmer to define the task. The most accepted specification formalism for compliant motions tasks is the Task Frame Formalism (TFF). The first contribution towards the TFF was proposed in , motivated by the increasing interest of finding an automatic method for the synthesis of control strategies for compliant motion, specially for automatic assembly applications.
We provide a general control framework for the grasp and the task in terms of the physical interaction frames and M. : Robot Physical Interaction through the Combination of Vision, STAR 84, pp. 19–38. com 20 3 A Framework for Sensor-Based Physical Interaction study how sensors can be used for tracking the relationships between them. Finally, we show how the framework can also be applied to tasks involving the use of tools and two-hand actions. 1 The Task Frame Formalism Concept Compliant motion is a concept that refers to the motion of a robot manipulator when it is constrained by the task geometry.
Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback: Applications to Assistive Robotics by Mario Prats, Ángel P. del Pobil, Pedro J. Sanz