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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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