Scarcia, Umberto and Hertkorn, Katharina and Melchiorri, Claudio and Palli, G. and Wimböck, Thomas (2015) Local Online Planning of Coordinated Manipulation Motion. In: IEEE International Conference on Robotics and Automation (ISSN: 1042-296X). IEEE International Conference on Robotics and Automation, 26-30 May 2015, Seattle, USA. ISSN 1042-296X.
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Abstract
In this work, we deal with the problem of planning a manipulation task for a robotic system composed of at least one dexterous arm and a dexterous multi-fingered hand. The goal of the local planner is to include both, the arm and the hand, in the execution of the task in a coordinated way. This is achieved by using the workspace of the hand which is computed offline. During the online planning, the current in-hand manipulation capability is evaluated taking advantage of the dimensions of the hand workspace and considering the task itself. Dynamic weights enable the computation of the instantaneous contributions of the two subsystems on the motion of the manipulated object. The method is evaluated in simulation as well as in several experiments on the real robot.
Item URL in elib: | https://elib.dlr.de/96899/ | ||||||||||||||||||
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Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||
Title: | Local Online Planning of Coordinated Manipulation Motion | ||||||||||||||||||
Authors: |
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Date: | May 2015 | ||||||||||||||||||
Journal or Publication Title: | IEEE International Conference on Robotics and Automation (ISSN: 1042-296X) | ||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||
Open Access: | No | ||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||
In ISI Web of Science: | Yes | ||||||||||||||||||
ISSN: | 1042-296X | ||||||||||||||||||
Status: | Published | ||||||||||||||||||
Keywords: | manipulation planning coordination | ||||||||||||||||||
Event Title: | IEEE International Conference on Robotics and Automation | ||||||||||||||||||
Event Location: | Seattle, USA | ||||||||||||||||||
Event Type: | international Conference | ||||||||||||||||||
Event Dates: | 26-30 May 2015 | ||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||
DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | ||||||||||||||||||
Deposited By: | Hertkorn, Katharina | ||||||||||||||||||
Deposited On: | 26 Jun 2015 10:31 | ||||||||||||||||||
Last Modified: | 09 Feb 2017 19:21 |
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