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Progress in Nonprehensile Manipulation

机译:非精确操纵的进展

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This paper reviews my recent research in robotic manipulation and speculates on potentially fruitful directions for future work. My re- cent work is focused on nonprehensile manipulation: manipulating objects without grasping them. Inparticular, the paper survrys work on a smgle joint robot that orients parts on a conveyor be a robot that uses dynamics to snatch, roll, or throw objects; hiting things to position them; manipulating things whose shapes are not com- pletely known; and integration of manipulation with locomotion. In the future, a broad view of robotics will allow us to focus on fun- damental principles and at the same time address a variery of new applications.
机译:本文回顾了我最近在机器人操纵方面的研究,并推测了未来工作可能富有成果的方向。我最近的工作集中在非全面的操纵上:操纵物体而不抓住它们。尤其是,该纸张的打捞工作是在将传送带上的零件定向的油烟机机器人上进行的。使用动力学抓取,滚动或投掷物体的机器人;打东西以放置它们;操纵形状不完全清楚的事物;以及操纵与运动的结合。将来,机器人技术的广阔视野将使我们能够专注于基本原理,同时解决各种新应用。

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