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Robotics and the Handbook Read chapter Read first chapter

2016 | OriginalPaper | Chapter

36. Motion for Manipulation Tasks

Authors : James Kuffner, Jing Xiao

Published in: Springer Handbook of Robotics

Publisher: Springer International Publishing

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Abstract

This chapter serves as an introduction to Part D by giving an overview of motion generation and control strategies in the context of robotic manipulation tasks. Automatic control ranging from the abstract, high-level task specification down to fine-grained feedback at the task interface are considered. Some of the important issues include modeling of the interfaces between the robot and the environment at the different time scales of motion and incorporating sensing and feedback. Manipulation planning is introduced as an extension to the basic motion planning problem, which can be modeled as a hybrid system of continuous configuration spaces arising from the act of grasping and moving parts in the environment. The important example of assembly motion is discussed through the analysis of contact states and compliant motion control. Finally, methods aimed at integrating global planning with state feedback control are summarized.

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previous chapter Multisensor Data Fusion
next chapter Contact Modeling and Manipulation
Appendix
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Metadata
Title
Motion for Manipulation Tasks
Authors
James Kuffner
Jing Xiao
Copyright Year
2016
Publisher
Springer International Publishing
Book
Springer Handbook of Robotics

Print ISBN: 978-3-319-32550-7

Electronic ISBN: 978-3-319-32552-1

Copyright Year: 2016

DOI
https://doi.org/10.1007/978-3-319-32552-1_36