Download e-book for iPad: Advanced Bimanual Manipulation: Results from the DEXMART by Rainer Jäkel, Steffen W. Rühl, Sven R. Schmidt-Rohr (auth.),

By Rainer Jäkel, Steffen W. Rühl, Sven R. Schmidt-Rohr (auth.), Bruno Siciliano (eds.)

ISBN-10: 364229040X

ISBN-13: 9783642290404

ISBN-10: 3642290418

ISBN-13: 9783642290411

Dexterous and independent manipulation is a key expertise for the private and repair robots of the long run. Advances in Bimanual Manipulation edited via Bruno Siciliano presents the robotics group with the main seen result of the four-year eu venture DEXMART (DEXterous and self sustaining dual-arm hand robot manipulation with shrewdpermanent sensory-motor talents: A bridge from ordinary to synthetic cognition). the amount covers a number of hugely very important issues within the box, focused on modelling and studying of human manipulation talents, algorithms for job making plans, human-robot interplay, and greedy, in addition to layout of dexterous anthropomorphic fingers. the implications defined during this five-chapter assortment are believed to pave the way in which in the direction of the improvement of robot structures endowed with dexterous and human-aware dual-arm/hand manipulation abilities for gadgets, working with a excessive measure of autonomy in unstructured real-world environments.

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Extra resources for Advanced Bimanual Manipulation: Results from the DEXMART Project

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The set will be generated based on three sets of coordinate frames: A, B and C. For dexterous tasks, all sets contain the frames in the human fingertips, the human wrists and all frames (in the database) of all recognized objects. For non-dexterous tasks, A will contain the human wrist, if a grasp or move was detected on the current or ingoing arc, otherwise all frames of the grasped object will be added. B and C are equal and contain all frames of the recognized objects in the database. For all frames in B and C start frames will be added, which represent the value of the frame at the beginning of the current or ingoing arc.

That rotation is referred to as yaw orientation. A set of three stable planes for a tin object is displayed in Fig. 23. A third, weaker, assumption can be concluded from the previously described scenarios: for many tasks, the yaw orientation of an object is irrelevant. This holds particularly for a temporally stored object. Based on the last assumption, we define the graspability Go (r) of an object o at the pose r (r contains the 3D Cartesian coordinates x,y,z and the orientation with roll, pitch, yaw convention) as in the following definition (from [70]): 26 R.

Furthermore, logic-based planning representations can be inferred from observed sequences of human task representations and in turn used for flexible task execution [88]. Finally, DL-ontologies and abstract-level learning from human demonstrations can be integrated, using strengths of both paradigms complementary [86]. 2 Execution Time Decision Making System By utilizing a proven three-layer architecture design, the autonomous execution reasoning system is able to integrate skill level, sequencing and task reasoning as well as mission-level decision making in a clearly organized manner.

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Advanced Bimanual Manipulation: Results from the DEXMART Project by Rainer Jäkel, Steffen W. Rühl, Sven R. Schmidt-Rohr (auth.), Bruno Siciliano (eds.)


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