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Motion for Manipulation Tasks

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Springer Handbook of Robotics

Part of the book series: Springer Handbooks ((SHB))

Abstract

This chapter serves as an introduction to Part D by giving an overview of motion generation and control strategies in the context of robotic manipulation tasks. Automatic control ranging from the abstract, high-level task specification down to fine-grained feedback at the task interface are considered. Some of the important issues include modeling of the interfaces between the robot and the environment at the different time scales of motion and incorporating sensing and feedback. Manipulation planning is introduced as an extension to the basic motion planning problem, which can be modeled as a hybrid system of continuous configuration spaces arising from the act of grasping and moving parts in the environment. The important example of assembly motion is discussed through the analysis of contact states and compliant motion control. Finally, methods aimed at integrating global planning with state feedback control are summarized.

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Abbreviations

2-D:

two-dimensional

3-D:

three-dimensional

6-D:

six-dimensional

CF:

contact formation

DOF:

degree of freedom

GCR:

goal-contact relaxation

IK:

inverse kinematics

PC:

principal contact

PID:

proportional–integral–derivative

RCC:

remote center of compliance

SRCC:

spatial remote center compliance

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Authors and Affiliations

  1. The Robotics Institute, Carnegie Mellon University, 5000 Forbes Avenue, PA 15213-3891, Pittsburgh, USA

    James Kuffner

  2. Department of Computer Science, University of North Carolina, Woodward Hall, NC 28223, Charlotte, USA

    Jing Xiao

Authors
  1. James Kuffner
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  2. Jing Xiao
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Correspondence to James Kuffner .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, University of Naples Federico II, Via Claudio 21, 80125, Naples, Italy

    Bruno Siciliano

  2. Department of Computer Sciences, Artificial Intelligence Laboratory, Stanford University, 450 Serra Mall, CA 94305, Stanford, USA

    Oussama Khatib

Video-References

Video-References

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Reducing uncertainty in robotics surface assembly tasks available from http://handbookofrobotics.org/view-chapter/36/videodetails/356

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Autonomous continuum grasping available from http://handbookofrobotics.org/view-chapter/36/videodetails/357

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Robotic assembly of emergency stop buttons available from http://handbookofrobotics.org/view-chapter/36/videodetails/358

:

Meso-scale manipulation: System, modeling, planning and control available from http://handbookofrobotics.org/view-chapter/36/videodetails/359

:

Grasp and multi-fingers-3 cylindrical-peg-in-hole demonstration using manipulation primitives available from http://handbookofrobotics.org/view-chapter/36/videodetails/360

:

Demonstration of multi-sensor integration in industrial manipulation available from http://handbookofrobotics.org/view-chapter/36/videodetails/361

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Control pre-imaging for multifingered grasp synthesis available from http://handbookofrobotics.org/view-chapter/36/videodetails/363

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Robust and fast manipulation of objects with multi-fingered hands available from http://handbookofrobotics.org/view-chapter/36/videodetails/364

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Whole quadruped manipulation available from http://handbookofrobotics.org/view-chapter/36/videodetails/366

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The mobipulator available from http://handbookofrobotics.org/view-chapter/36/videodetails/367

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Handling of a single object by multiple mobile robots based on caster-like dynamics available from http://handbookofrobotics.org/view-chapter/36/videodetails/368

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Rollin’ Justin – Mobile platform with variable base available from http://handbookofrobotics.org/view-chapter/36/videodetails/369

:

Learning to place new objects available from http://handbookofrobotics.org/view-chapter/36/videodetails/370

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Kuffner, J., Xiao, J. (2016). Motion for Manipulation Tasks. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer Handbooks. Springer, Cham. https://doi.org/10.1007/978-3-319-32552-1_36

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