Systems integration for real–world manipulation tasks
2002 (English)In: 2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS, 2002, 2500-2505 p.Conference paper (Refereed)
A system developed to demonstrate integration of a number of key research areas such as localization, recognition, visual tracking, visual servoing and grasping is presented together with the underlying methodology adopted to facilitate the integration. Through sequencing of basic skills, provided by the above mentioned competencies, the system has the potential to carry out flexible grasping for fetch and carry in realistic environments. Through careful fusion of reactive and deliberative control and use of multiple sensory modalities a significant flexibility is achieved. Experimental verification of the integrated system is presented.
Place, publisher, year, edition, pages
2002. 2500-2505 p.
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-52926ISI: 000178573200394ISBN: 0-7803-7272-7OAI: oai:DiVA.org:kth-52926DiVA: diva2:468260
19th IEEE International Conference on Robotics and Automation (ICRA). WASHINGTON, DC. MAY 11-15, 2002
QC 201112212011-12-202011-12-202011-12-21Bibliographically approved