A framework for compliant physical interaction

摘要: Although the grasp-task interplay in our daily life is unquestionable, very little research has addressed this problem robotics. In order to fill gap between grasp and task, we adopt most successful approaches task specification, extend them with additional elements that allow define a link. We propose global sensor-based framework for specification robust control of physical interaction tasks, where are jointly considered on basis frame formalism knowledge-based approach grasping. A planner also presented, based new concept task-oriented hand preshapes. The focuses manipulation articulated parts home environments, able specify automatically all required by proposed framework. Finally, several applications described, showing versatility approach, its suitability fast implementation tasks different robotic systems.