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Local Online Planning of Coordinated Manipulation Motion

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/
Document Type:Conference or Workshop Item (Speech)
Title:Local Online Planning of Coordinated Manipulation Motion
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Scarcia, UmbertoUNSPECIFIEDUNSPECIFIED
Hertkorn, KatharinaKatharina.Hertkorn (at) dlr.deUNSPECIFIED
Melchiorri, ClaudioUniversità di BolognaUNSPECIFIED
Palli, G.DEIS, Dept. of Electronics, Computer Science and Systems University of Bologna, ItalyUNSPECIFIED
Wimböck, ThomasThomas.Wimboeck (at) dlr.deUNSPECIFIED
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
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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