Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback - Applications to Assistive Robotics
Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback - Applications to Assistive Robotics
复制标题
通过视觉、触觉和力反馈相结合的机器人物理交互 - 在辅助机器人技术中的应用
DOI：
10.1007/978-3-642-33241-8
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发表时间：
2012
影响因子：
5.3
通讯作者：
P. Sanz
中科院分区：
文献类型：
--
作者：
M. Prats;A. P. Pobil;P. Sanz
机器人操作是一个巨大的挑战;它包括多功能性-适应不同的情况-，自主性-独立的机器人操作-和可靠性-在建模或传感错误下取得成功。一个完整的操作任务首先涉及一个合适的抓取或接触配置，以及任务所需的后续运动。这本专著提出了一个统一的框架，通过引入任务相关的方面到知识为基础的把握概念，导致任务为导向的把握。类似地，在任务执行过程中也考虑了与抓握相关的问题，从而产生了面向抓握的任务，称为物理交互框架（FPI）。这本书提出了物理交互任务的通用规范的理论框架，以及这些任务的自主规划问题。进一步的重点是基于传感器的可靠执行，结合了三种不同类型的传感器：力，视觉和触觉。FPI方法允许执行广泛的机器人操作任务。所有的贡献进行了验证，使用不同的真实的机器人放置在家庭环境中的几个实验，例如，一个高自由度的人形机器人可以成功地操作未建模的机制与广泛变化的结构，在一般的方式与自然运动。这项研究获得了欧洲Georges Giralt奖和Robotdalen科学奖荣誉奖。
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.