000 03454nam a22005535i 4500
001 978-3-642-33241-8
003 DE-He213
005 20200421111849.0
007 cr nn 008mamaa
008 121009s2013 gw | s |||| 0|eng d
020 _a9783642332418
_9978-3-642-33241-8
024 7 _a10.1007/978-3-642-33241-8
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aPrats, Mario.
_eauthor.
245 1 0 _aRobot Physical Interaction through the combination of Vision, Tactile and Force Feedback
_h[electronic resource] :
_bApplications to Assistive Robotics /
_cby Mario Prats, �Angel P. del Pobil, Pedro J. Sanz.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg :
_bImprint: Springer,
_c2013.
300 _aXVIII, 178 p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v84
505 0 _aPart I -- Part -II -- Part- III.
520 _aRobot 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.    .
650 0 _aEngineering.
650 0 _aUser interfaces (Computer systems).
650 0 _aArtificial intelligence.
650 0 _aRobotics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aUser Interfaces and Human Computer Interaction.
700 1 _aPobil, �Angel P. del.
_eauthor.
700 1 _aSanz, Pedro J.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642332401
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v84
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-33241-8
912 _aZDB-2-ENG
942 _cEBK
999 _c55988
_d55988