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


Angel Pascual del Pobil

Professor/a organitzador/a

Domenec Puig


Universitat Jaume I


18-01-2013 12:00


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.


Laboratori 231