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From Visual Understanding to Complex Object Manipulation
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.
KTH, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.
Vise andre og tillknytning
2019 (engelsk)Inngår i: Annual Review of Control, Robotics, and Autonomous Systems, Vol. 2, s. 161-179Artikkel, forskningsoversikt (Fagfellevurdert) 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.

sted, utgiver, år, opplag, sider
2019. Vol. 2, s. 161-179
Emneord [en]
grasping; in-hand manipulation; task planning
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-251654DOI: 10.1146/annurev-control-053018-023735ISI: 000467686900007OAI: oai:DiVA.org:kth-251654DiVA, id: diva2:1316315
Merknad

QC 20190605

Tilgjengelig fra: 2019-05-17 Laget: 2019-05-17 Sist oppdatert: 2019-12-04bibliografisk kontrollert

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Forlagets fullteksthttps://doi.org/10.1146/annurev-control-053018-023735

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Butepage, JudithCruciani, SilviaKokic, MiaWelle, MichaelKragic, Danica
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Totalt: 191 treff
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