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.

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.

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Este libro NO contiene formulas magicas para convertirse en escritor, pues tal cosa no existe. En el hallara acaso el fruto de muchas reflexiones, indagaciones e investigaciones tecnicas de diverso alcance, cuyos frutos no pasan de ser sospechas, conjeturas y teorias sobre como narrar ficcion. Se trata aqui de la construccion del personaje literario, del desarrollo de la trama, de la necesidad del conflicto, de la pertinencia del lenguaje. Entre otras cosas, el lector encontrara en este volumen: -Una completa guia de posproduccion del texto literario, que le confirmaran que la palabra FIN es solo el comienzo. -Una completa lista de los errores mas frecuentes que el escritor debe evitar en sus obras. -Una recopilacion de las mas efectivas tecnicas y ejercicios para fomentar la creatividad y romper el bloqueo creativo. -Una propuesta para poner en marcha su propia fabrica de historias.

Descubre tu propia factoria de historias. Un manual para crear una novela desde cero. La idea, los personajes, los arquetipos, la trama, el conflicto, la narracion literaria, el desenlace, la revision. Consejos, trucos, control de calidad."

This is an EXACT reproduction of a book published before 1923. This IS NOT an OCR'd book with strange characters, introduced typographical errors, and jumbled words. This book may have occasional imperfections such as missing or blurred pages, poor pictures, errant marks, etc. that were either part of the original artifact, or were introduced by the scanning process. We believe this work is culturally important, and despite the imperfections, have elected to bring it back into print as part of our continuing commitment to the preservation of printed works worldwide. We appreciate your understanding of the imperfections in the preservation process, and hope you enjoy this valuable book.