Skill-Based Bimanual Manipulation Planning

• Autorzy: Szynkiewicz W.
• Języki publikacji: EN

Abstrakty

EN

The paper focuses on specification and utilization of manipulation skills to facilitate programming of bimanual manipulation tasks. Manipulation skills are actions to reach predefined goals. They constitute an interface between low-level constraint-based task specification and high level symbolic task planning. The task of the robot can be decomposed into subtasks that can be resolved using manipulation skills. Rubik's cube solving problem is presented as an example of a 3D manipulation task using two-arm robot system with diverse sensors such as vision, force/torque, tactile sensors.

Słowa kluczowe

EN

bimanual manipulation planning; manipulation skills; robot programming

• Wydawca: Instytut Łączności - Państwowy Instytut Badawczy
• Czasopismo: Journal of Telecommunications and Information Technology
• Rocznik: 2012
• Tom: nr 4
• Strony: 54--62
• Opis fizyczny: Bibliogr. 25 poz., rys.

Twórcy

autor

Szynkiewicz W.

• Institute of Control and Computation Engineering, Warsaw University of Technology, Nowowiejska st 15/19, 00-665 Warsaw, Poland,

Bibliografia

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