Overview: State-of-the-art versatility, autonomy and dependability of robotic manipulation.Presents novel grasp-task sensor-based control methods using vision, tactile and force feedback, and exploiting joint a.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. This monograph presents a unified framewo
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