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14

ICRA
1994
IEEE

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Integrating Sensing, Task Planning, and Execution

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Integrating Sensing, Task Planning, and Execution

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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

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Abstract-This Paper Deals | ICRA 1994 | Robotic Work Cell | Robotics | Sensing |

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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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