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ICRA
1994
IEEE

Integrating Sensing, Task Planning, and Execution

11 years 3 months ago
Integrating Sensing, Task Planning, and Execution
Abstract-This paper deals with enhancing the level of autonomy in a robotic work cell. With that mission in mind, we present here an integrated framework for the sensing, the planning, and the executionaspects of assembly. In experimental demonstrations of this system on a PUMA762, we can now throw objects randomly into the workspace of the robot and the robot then automatically synthesizes a manipulation plan that includesthe operationsof sensing,grasping,and regrasping.Each operation is invoked only when it is deemed necessary for the successful execution of assembly.
C. P. Tung, Avinash C. Kak
Added 08 Aug 2010
Updated 08 Aug 2010
Type Conference
Year 1994
Where ICRA
Authors C. P. Tung, Avinash C. Kak
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