| Volume 26 Issue 5 - Publication Date: 1 May 2007 |
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| Constraint-based Task Specification
and Estimation for Sensor-Based Robot Systems in the Presence of Geometric
Uncertainty |
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| Joris De Schutter, Tinne
De Laet, Johan Rutgeerts, Wilm Decré, Ruben
Smits, Erwin Aertbeliën, Kasper Claes and Herman
Bruyninckx Department of Mechanical Engineering, Katholieke Universiteit
Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium |
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| This paper introduces a systematic
constraint-based approach to specify complex tasks of general sensor-based
robot systems consisting of rigid links and joints. The approach integrates
both instantaneous task specification and estimation of geometric uncertainty
in a unified framework. Major components are the use of feature coordinates,
defined with respect to object and feature frames, which facilitate the
task specification, and the introduction of uncertainty coordinates to model
geometric uncertainty. While the focus of the paper is on task specification,
an existing velocity- based control scheme is reformulated in terms of these
feature and uncertainty coordinates. This control scheme compensates for
the effect of time varying uncertainty coordinates. Constraint weighting
results in an invariant robot behavior in case of conflicting constraints
with heterogeneous units. |
| The approach applies to a large
variety of robot systems (mobile robots, multiple robot systems, dynamic
human-robot interaction, etc.), various sensor systems, and different robot
tasks. Ample simulation and experimental results are presented. |
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| Multimedia Key |
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 = Data |
= Code |
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Extension |
Type |
Description |
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Example
1: Experiment of human-robot comanipulation task. (3.4 MB) avi |
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Example
2: Experiment of pick-and-place operation of a compressor screw
combined with a painting task. (16.6 MB) mpg |
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