Chapitre D'ouvrage Année : 2021

Active Manipulation

Zhanat Kappassov

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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Dates et versions

hal-03711950 , version 1 (01-07-2022)

Identifiants

Citer

Zhanat Kappassov. Active Manipulation. Marcelo H. Ang; Oussama Khatib; Bruno Siciliano. Encyclopedia of Robotics, Springer Berlin Heidelberg, 2021, 978-3-642-41610-1. ⟨10.1007/978-3-642-41610-1_178-1⟩. ⟨hal-03711950⟩

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