Robotic execution of everyday tasks by means of external vision/force control |
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Authors: | Mario Prats Philippe Martinet Angel P del Pobil Sukhan Lee |
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Affiliation: | (1) Universitat Jaume I, Castellón, Spain;(2) LASMEA, Clermont-Ferrand, France;(3) Intelligent Systems Research Center, Sungkyunkwan University, Suwon, South Korea |
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Abstract: | In this article, we present an integrated manipulation framework for a service robot, that allows to interact with articulated
objects at home environments through the coupling of vision and force modalities. We consider a robot which is observing simultaneously
his hand and the object to manipulate, by using an external camera (i.e. robot head). Task-oriented grasping algorithms (Proc
of IEEE Int Conf on robotics and automation, pp 1794–1799, 2007) are used in order to plan a suitable grasp on the object
according to the task to perform. A new vision/force coupling approach (Int Conf on advanced robotics, 2007), based on external
control, is used in order to, first, guide the robot hand towards the grasp position and, second, perform the task taking
into account external forces. The coupling between these two complementary sensor modalities provides the robot with robustness
against uncertainties in models and positioning. A position-based visual servoing control law has been designed in order to
continuously align the robot hand with respect to the object that is being manipulated, independently of camera position.
This allows to freely move the camera while the task is being executed and makes this approach amenable to be integrated in
current humanoid robots without the need of hand-eye calibration. Experimental results on a real robot interacting with different
kind of doors are presented. |
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Keywords: | Household robots Vision/force control Task-oriented grasping |
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