Vision and tactile sensing for real world tasks
2003 (English)Conference paper (Refereed)
Robotic fetch-and-carry tasks are commonly facilitated to demonstrate a number of research directions such as navigation, mobile manipulation, systems integration, etc. As a part of an integrated system in terms of a service robot framework, this paper describes a set of methods for real-world object manipulation tasks. We concentrate here on two particular parts of a manipulation sequence: i) robust visual servoing, and ii) grasping strategies. In terms of visual servoing we discuss the handling of singularities during a manipulation sequence. For grasping, we present a biologically motivated strategy using tactile feedback.
Place, publisher, year, edition, pages
2003. 1545-1550 p.
Computer and Information Science
IdentifiersURN: urn:nbn:se:kth:diva-82174OAI: oai:DiVA.org:kth-82174DiVA: diva2:497996
20th IEEE International Conference on Robotics and Automation (ICRA)
NR 201408052012-02-112012-02-11Bibliographically approved