Systems Integration for Real--World Manipulation Tasks

Lars Petersson , Patric Jensfelt , Dennis Tell , Morten Strandberg , Danica Kragic and Henrik I. Christensen

Abstract

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

BibTeX Entry:

@InProceedings{Petersson02a,
  author =       {Lars Petersson and Patric Jensfelt and Dennis Tell and Morten Strandberg and Danica Kragi{\'{c}} and  Henrik I. Christensen},
  title =        {Systems Integration for Real--World Manipulation Tasks},
  booktitle =    {Proc.~IEEE International Conference on Robotics and Automation (ICRA'02)},
  pages =        {2500--2505},
  year =         2002,
  volume =       3
}

Download: pdf (989k)