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Inici

Deiminari

Títol

El desafío de la interacción física versátil, autónoma y fiable en manipulaci

Conferenciant

Angel Pascual del Pobil

Professor/a organitzador/a

Domenec Puig

Institució

Universitat Jaume I

Data

18-01-2013 12:00

Resum

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. We propose 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. We call this unified approach framework for physical interaction (FPI). I will first present the theoretical framework for the versatile specification of physical interaction tasks. Next, the problem of autonomous planning of these tasks is addressed. Then, I will focus 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. The talk will be based on my latest book titled "Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback: Applications to Assistive Robotics", just published in the Springer Tracts in Advanced Robotics (STAR) series, co-authored with Mario Prats and Pedro J. Sanz. This research was recipient of various awards, including the Georges Giralt European Award and the Robotdalen Scientific Award Honorary Mention.

Lloc

Laboratori 231

Idioma

Anglès