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)