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Cognitive Reasoning for Compliant Robot Manipulation
In order to achieve human-like performance, this book covers the four steps of reasoning a robot must provide in the concept of intelligent physical compliance: to represent, plan, execute, and interpret compliant manipulation tasks. A classification of manipulation tasks is conducted to identify the central research questions of the addressed topic. It is investigated how symbolic task descriptions can be translated into meaningful robot commands.Among others, the developed concept is applied in an actual space robotics mission, in which an astronaut aboard the International Space Station (ISS) commands the humanoid robot Rollin' Justin to maintain a Martian solar panel farm in a mock-up environment
Historical Dictionary of Chad
Having achieved its independence from France in 1960, Chad has run into a serious crises of national building, which have continued to haunt it to the present day, making it one of the poorest and most politically unstable countries on the globe. Chad is a country with sharp geographic and climatic contrasts that puzzle and fascinate the visitor, displaying first a monotonous but majestic portion of the Saharan Desert in the north, punctuated by plains and high altitudes displayed by the Tibesti mountains, where the highest point, Emi Koussi, reaches 11,204 ft.; the middle Central Sahelian zone, where pastoral transhumance lifestyle predominates but where and nut cultivation and harvesting i...
In-Hand Object Localization and Control: Enabling Dexterous Manipulation with Robotic Hands
This book introduces a novel model-based dexterous manipulation framework, which, thanks to its precision and versatility, significantly advances the capabilities of robotic hands compared to the previous state of the art. This is achieved by combining a novel grasp state estimation algorithm, the first to integrate information from tactile sensing, proprioception and vision, with an impedance-based in-hand object controller, which enables leading manipulation capabilities, including finger gaiting. The developed concept is implemented on one of the most advanced robotic manipulators, the DLR humanoid robot David, and evaluated in a range of challenging real-world manipulation scenarios and tasks. This book greatly benefits researchers in the field of robotics that study robotic hands and dexterous manipulation topics, as well as developers and engineers working on industrial automation applications involving grippers and robotic manipulators.
Canada on Stage
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Mary Magdalene from the New Testament to the New Age and Beyond
An international team of twenty scholars under Edmondo F. Lupieri’s direction produced Mary Magdalene from the New Testament to the New Age and Beyond. While the historical figure of the Magdalene may be lost forever, the construction of her literary images and their transformations and adaptations over the centuries are a lively testimony to human creativity and faith. Different pictures of Mary travelled through time and space, from history to legend and mythology, crossed religious boundaries, going beyond the various Christianities, to become a “sign of contradiction” for many. This book describes a special case of biblical reception history, that of the New Testament figure of a woman whose presence at the side of Jesus has been disturbing for some, but proves to be inspiring for others.
Canadian Theatre Review Yearbook
A record of plays professionally produced in Canada.
Former les enseignants du XXIème siècle dans toute la francophonie
Il s'agit d'une démarche en continuité de la part du RIFEFF pour aller vers les objectifs de présenter un jour, l'éventail aussi complet que possible des stratégies de formation des enseignants partout dans la francophonie mais aussi de permettre aux intervenants des différents pays comment sont formés les enseignants dans le monde.
Whole-Body Impedance Control of Wheeled Humanoid Robots
Introducing mobile humanoid robots into human environments requires the systems to physically interact and execute multiple concurrent tasks. The monograph at hand presents a whole-body torque controller for dexterous and safe robotic manipulation. This control approach enables a mobile humanoid robot to simultaneously meet several control objectives with different pre-defined levels of priority, while providing the skills for compliant physical contacts with humans and the environment. After a general introduction into the topic of whole-body control, several essential reactive tasks are developed to extend the repertoire of robotic control objectives. Additionally, the classical Cartesian ...
A Stable and Transparent Framework for Adaptive Shared Control of Robots
Robotic research and developments in computing technologies including artificial intelligence have led to significant improvements in autonomous capabilities of robots. Yet, human supervision is advisable and, in many cases, necessary when robots interact with real-world, outside-lab environments. This is due to the fact that complete autonomy in robots has not yet been achieved. When robots encounter challenges beyond their capabilities, a viable solution is to include human operators in the loop, who can support robots through teleoperation, taking complete control or shared control. This monograph focuses on a special form of shared control, namely mixed-initiative, where the final comman...
Co-construire des savoirs
La recherche en intervention par les activités physiques, sportives et artistiques s'intéresse à la co-construction des savoirs dans l'action et plus particulièrement aux conditions d'appropriation des connaissances et du développement de la personne en milieu éducatif. L'apport des récents travaux issus de la recherche internationale en « Sciences de l'Intervention » permet au chercheur comme au praticien d'éclairer les pratiques avec de nouveaux paradigmes. Cet ouvrage s'articule autour de quatre thématiques majeures: (1) l'enseignement et la formation, (2) l'entraînement, (3) la question du sens des apprentissages et (4) les différentes figures des métiers d'intervenant. Les articles issus de la recherche en didactique de l'éducation physique, en formation des intervenants, en entraînement offrent ainsi au lecteur un large éventail de questionnements et de démarches méthodologiques innovantes croisant les préoccupations du terrain, l'analyse des pratiques et les produits de la recherche.
