Systems integration for real-world manipulation tasks
Systems integration for real-world manipulation tasks
复制标题
现实世界操纵任务的系统集成
DOI：
10.1109/robot.2002.1013607
复制
发表时间：
2002
期刊：
影响因子：
--
通讯作者：
H. Christensen
中科院分区：
文献类型：
--
作者：
L. Petersson;P. Jensfelt;Dennis Tell;M. Strandberg;D. Kragic;H. Christensen
为展示定位、识别、视觉跟踪、视觉伺服和抓取等多个关键研究领域的集成而开发的系统，以及促进集成所采用的基础方法。通过上述能力提供的基本技能的排序，系统有可能在现实环境中进行灵活的抓取和携带。通过反应性和深思熟虑控制的仔细融合以及多种感官方式的使用，实现了显着的灵活性。提出了集成系统的实验验证。
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.