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024 7 $a10.1007/978-3-642-33241-8
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035   $a(DE-He213)978-3-642-33241-8
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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   $a3-642-33240-4 
320   $aIncludes bibliographical references.
327   $aPart I -- Part -II -- Part- III.
330   $aRobot manipulation is a great challenge; it encompasses versatility -adaptation to different situations-, autonomy -independent robot operation-, and dependability -for success under modeling or sensing errors. A complete manipulation task involves, first, a suitable grasp or contact configuration, and the subsequent motion required by the task. This monograph presents a unified framework by introducing task-related aspects into the knowledge-based grasp concept, leading to task-oriented grasps. Similarly, grasp-related issues are also considered during the execution of a task, leading to grasp-oriented tasks which is called framework for physical interaction (FPI). The book presents the theoretical framework for the versatile specification of physical interaction tasks, as well as the problem of autonomous planning of these tasks. A further focus is on sensor-based dependable execution combining three different types of sensors: force, vision and tactile. The FPI approach allows to perform a wide range of robot manipulation tasks. All contributions are validated with several experiments using different real robots placed on household environments; for instance, a high-DoF humanoid robot can successfully operate unmodeled mechanisms with widely varying structure in a general way with natural motions. This research was recipient of the European Georges Giralt Award and the Robotdalen Scientific Award Honorary Mention.    .
410  0$aSpringer tracts in advanced robotics ;$vv. 84.
606   $aAutonomous robots
606   $aHuman-robot interaction
615  0$aAutonomous robots.
615  0$aHuman-robot interaction.
676   $a629.892
700   $aPrats$b Mario$01061361
701   $aPobil$b Angel Pasqual del$0764102
701   $aSanz$b Pedro J$01752932
801  0$bMiAaPQ
801  1$bMiAaPQ
801  2$bMiAaPQ
906   $aBOOK
912   $a9910438052403321
996   $aRobot physical interaction through the combination of vision, tactile and force feedback$94188438
997   $aUNINA