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[et al.]$gpresentazione di Valerio Onida 210 $aMilano$cGiuffré$d1988 215 $aXV, 233 p.$d24 cm 225 1 $aPubblicazioni dell'Istituto di diritto pubblico$fUniversità degli studi di Milano, Facoltà di giurisprudenza$v23 676 $a342.045 702 1$aBalboni,$bEnzo 702 1$aOnida,$bValerio 801 0$aIT$bUNINA$gRICA$2UNIMARC 901 $aBK 912 $a990006103880403321 952 $aUNIV. 323 (23)$b20164*$fFGBC 952 $aXXVI 458 CC$fDDCIC 952 $aUNIV. 116 (23)$b10245$fFSPBC 959 $aDDCIC 959 $aFGBC 959 $aFSPBC 996 $aDifficile alternanza$9574659 997 $aUNINA LEADER 03440nam 2200601Ia 450 001 9910438052403321 005 20200520144314.0 010 $a9783642332418 010 $a3642332412 024 7 $a10.1007/978-3-642-33241-8 035 $a(CKB)3400000000102776 035 $a(SSID)ssj0000788864 035 $a(PQKBManifestationID)11407329 035 $a(PQKBTitleCode)TC0000788864 035 $a(PQKBWorkID)10828638 035 $a(PQKB)11672978 035 $a(DE-He213)978-3-642-33241-8 035 $a(MiAaPQ)EBC3070991 035 $a(PPN)168323907 035 $a(EXLCZ)993400000000102776 100 $a20121023d2013 uy 0 101 0 $aeng 135 $aurnn|008mamaa 181 $ctxt 182 $cc 183 $acr 200 10$aRobot physical interaction through the combination of vision, tactile and force feedback $eapplications to assistive robotics /$fMario Prats, Angel P. del Pobil, and Pedro J. Sanz 205 $a1st ed. 2013. 210 $aBerlin ;$aHeidelberg $cSpringer$dc2013 215 $a1 online resource (XVIII, 178 p.) 225 1 $aSpringer tracts in advanced robotics,$x1610-7438 ;$v84 300 $aBibliographic Level Mode of Issuance: Monograph 311 08$a9783642332401 311 08$a3642332404 320 $aIncludes bibliographical references. 327 $aPart I -- Part -II -- Part- III. 330 $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. 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