Active Manipulation
Résumé
Robotic manipulation performed by robots, both manipulator arms and robot-hands, refers to the art of controlling the location or shape of an object through force and form closure contact constraints with one or multiple robot end-effectors. These end-effectors are usually equipped with tactile sensors when the success of robotic manipulation tasks needs to be assured. For example, in a “pick and place” task a robot equipped with vibro-tactile sensors can prevent slippage of the grasped object. This section focuses on tactile aspects of autonomous manipulation.
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