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Integrating Path Planning and Pivoting
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0002-9171-8768
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0003-2078-8854
2018 (English)In: 2018 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) / [ed] Maciejewski, AA Okamura, A Bicchi, A Stachniss, C Song, DZ Lee, DH Chaumette, F Ding, H Li, JS Wen, J Roberts, J Masamune, K Chong, NY Amato, N Tsagwarakis, N Rocco, P Asfour, T Chung, WK Yasuyoshi, Y Sun, Y Maciekeski, T Althoefer, K AndradeCetto, J Chung, WK Demircan, E Dias, J Fraisse, P Gross, R Harada, H Hasegawa, Y Hayashibe, M Kiguchi, K Kim, K Kroeger, T Li, Y Ma, S Mochiyama, H Monje, CA Rekleitis, I Roberts, R Stulp, F Tsai, CHD Zollo, L, IEEE , 2018, p. 6601-6608Conference paper, Published paper (Refereed)
Abstract [en]

In this work we propose a method for integrating motion planning and in-hand manipulation. Commonly addressed as a separate step from the final execution, in-hand manipulation allows the robot to reorient an object within the end-effector for the successful outcome of the goal task. A joint achievement of repositioning the object and moving the manipulator towards its desired final pose saves time in the execution and introduces more flexibility in the system. We address this problem using a pivoting strategy (i.e. in-hand rotation) for repositioning the object and we integrate this strategy with a path planner for the execution of a complex task. This method is applied on a Baxter robot and its efficacy is shown by experimental results.

Place, publisher, year, edition, pages
IEEE , 2018. p. 6601-6608
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
URN: urn:nbn:se:kth:diva-246313DOI: 10.1109/IROS.2018.8593584ISI: 000458872706008ISBN: 978-1-5386-8094-0 (print)OAI: oai:DiVA.org:kth-246313DiVA, id: diva2:1297350
Conference
25th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), OCT 01-05, 2018, Madrid, SPAIN
Note

QC 20190319

Available from: 2019-03-19 Created: 2019-03-19 Last updated: 2019-03-19Bibliographically approved

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Cruciani, SilviaSmith, Christian

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