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Vision and tactile ...
Vision and tactile sensing for real world tasks
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- Kragic, Danica (författare)
- KTH,Datorseende och robotik, CVAP
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Crinier, S (författare)
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Brunn, D (författare)
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visa fler...
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Christensen, Henrik I (författare)
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visa färre...
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(creator_code:org_t)
- 2003
- 2003
- Engelska.
- Relaterad länk:
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https://urn.kb.se/re...
Abstract
Ämnesord
Stäng
- 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.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences (hsv//eng)
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)