Advanced Bimanual Manipulation: Results from the DEXMART Project

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Bruno Siciliano
Springer Science & Business Media, Apr 12, 2012 - Computers - 268 pages
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Dexterous and autonomous manipulation is a key technology for the personal and service robots of the future. Advances in Bimanual Manipulation edited by Bruno Siciliano provides the robotics community with the most noticeable results of the four-year European project DEXMART (DEXterous and autonomous dual-arm hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition). The volume covers a host of highly important topics in the field, concerned with modelling and learning of human manipulation skills, algorithms for task planning, human-robot interaction, and grasping, as well as hardware design of dexterous anthropomorphic hands. The results described in this five-chapter collection are believed to pave the way towards the development of robotic systems endowed with dexterous and human-aware dual-arm/hand manipulation skills for objects, operating with a high degree of autonomy in unstructured real-world environments.

 

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Contents

Layered Programming by Demonstration and Planning for Autonomous Robot Manipulation
1
Observation and Execution
59
HumanRobot Interaction
123
Innovative Technologies for the Next Generation of Robotic Hands
173
Grasping and Control of MultiFingered Hands
219
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