Robotic execution for everyday tasks by means of external vision/force control
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Otros documentos de la autoría: Prats Sánchez, Mario; Martinet, Philippe; del Pobil, Angel P.; Lee, Sukhan
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Mostrar el registro completo del ítemcomunitat-uji-handle:10234/9
comunitat-uji-handle2:10234/7036
comunitat-uji-handle3:10234/8620
comunitat-uji-handle4:
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Título
Robotic execution for everyday tasks by means of external vision/force controlFecha de publicación
2008Editor
Springer VerlagISSN
18612776Tipo de documento
info:eu-repo/semantics/articlePalabras clave / Materias
Resumen
In this article, we present an integrated manipulation framework for a service robot, that allows to
interact with articulated objects at home environments
through the coupling of vision and force modalities. ... [+]
In this article, we present an integrated manipulation framework for a service robot, that allows to
interact with articulated objects at home environments
through the coupling of vision and force modalities. We
consider a robot which is observing simultaneously his
hand and the object to manipulate, by using an external
camera (i.e. robot head). Task-oriented grasping algorithms [1] are used in order to plan a suitable grasp on the object according to the task to perform. A new vision/force coupling approach [2], based on external control, is used in order to, first, guide the robot hand towards the grasp position and, second, perform the task taking into account external forces. The coupling between these two complementary sensor modalities provides the robot with robustness against uncertainties in
models and positioning. A position-based visual servoing
control law has been designed in order to continuously
align the robot hand with respect to the object that is being manipulated, independently of camera position. This allows to freely move the camera while the task is being
executed and makes this approach amenable to be integrated in current humanoid robots without the need of hand-eye calibration. Experimental results on a real
robot interacting with different kind of doors are pre-
sented. [-]
Derechos de acceso
http://rightsstatements.org/vocab/CNE/1.0/
info:eu-repo/semantics/openAccess
info:eu-repo/semantics/openAccess
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