By Rainer Jäkel, Steffen W. Rühl, Sven R. Schmidt-Rohr (auth.), Bruno Siciliano (eds.)

ISBN-10: 364229040X

ISBN-13: 9783642290404

ISBN-10: 3642290418

ISBN-13: 9783642290411

Dexterous and independent manipulation is a key know-how for the non-public and repair robots of the long run. Advances in Bimanual Manipulation edited by way of Bruno Siciliano offers the robotics neighborhood with the main seen result of the four-year eu undertaking DEXMART (DEXterous and independent dual-arm hand robot manipulation with shrewdpermanent sensory-motor talents: A bridge from traditional to man made cognition). the quantity covers a bunch of hugely very important subject matters within the box, enthusiastic about modelling and studying of human manipulation abilities, algorithms for job making plans, human-robot interplay, and greedy, in addition to layout of dexterous anthropomorphic fingers. the consequences defined during this five-chapter assortment are believed to pave the way in which in the direction of the improvement of robot platforms endowed with dexterous and human-aware dual-arm/hand manipulation abilities for items, working with a excessive measure of autonomy in unstructured real-world environments.

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Additional info for Advanced Bimanual Manipulation: Results from the DEXMART Project

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Good approximations can be achieved computing the policy preferably only in areas of all potential subjective situation experiences an agent might encounter (belief states), which are highly likely to happen according to a model. Such an approach is taken by SARSOP [51], the algorithmic procedure also used to compute a policy from a model in the presented system. With approximate policy computation, real world application is feasible, however modeling real task and mission domains is still challenging.

G. cube, sphere, cone and cylinder cuts, see Fig. 5, is generated and the minimal result is taken. 5 Generalization The initial manipulation strategy is overspecialized. It contains a large number of automatically generated task constraints, which describe the subgoals and the transitions between subgoals of the skill. Since all referenced coordinate frames have to exist and all generated task constraints, even if not relevant to the task, have to be obeyed in the execution environment, generalization is limited.

Two complementary approaches to reduce the number of task constraints in the initial manipulation strategy were investigated: Teaching [43] and Robot Tests [41]. 1 Teaching Following the idea of curriculum learning [7], the second set of demonstrations, which represents human solutions to more complex problems or problems, the robot should be able to generalize to, is exploited to remove irrelevant task constraints. The second set is segmented in the same way as the first set. A constraint will be removed, if it is not obeyed on the corresponding segment on one of the second 14 R.

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Advanced Bimanual Manipulation: Results from the DEXMART Project by Rainer Jäkel, Steffen W. Rühl, Sven R. Schmidt-Rohr (auth.), Bruno Siciliano (eds.)


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