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From Visual Understanding to Complex Object Manipulation
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.
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2019 (English)In: Annual Review of Control, Robotics, and Autonomous Systems, Vol. 2, p. 161-179Article, review/survey (Refereed) Published
Abstract [en]

Planning and executing object manipulation requires integrating multiple sensory and motor channels while acting under uncertainty and complying with task constraints. As the modern environment is tuned for human hands, designing robotic systems with similar manipulative capabilities is crucial. Research on robotic object manipulation is divided into smaller communities interested in, e.g., motion planning, grasp planning, sensorimotor learning, and tool use. However, few attempts have been made to combine these areas into holistic systems. In this review, we aim to unify the underlying mechanics of grasping and in-hand manipulation by focusing on the temporal aspects of manipulation, including visual perception, grasp planning and execution, and goal-directed manipulation. Inspired by human manipulation, we envision that an emphasis on the temporal integration of these processes opens the way for human-like object use by robots.

Place, publisher, year, edition, pages
2019. Vol. 2, p. 161-179
Keywords [en]
grasping; in-hand manipulation; task planning
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-251654DOI: 10.1146/annurev-control-053018-023735ISI: 000467686900007OAI: oai:DiVA.org:kth-251654DiVA, id: diva2:1316315
Note

QC 20190605

Available from: 2019-05-17 Created: 2019-05-17 Last updated: 2019-12-04Bibliographically approved

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Publisher's full texthttps://doi.org/10.1146/annurev-control-053018-023735

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Butepage, JudithCruciani, SilviaKokic, MiaWelle, MichaelKragic, Danica
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CiteExportLink to record
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  • apa
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