Human-in-the-Loop Robotic Manipulation Planning for Collaborative Assembly
نویسندگان
چکیده
منابع مشابه
Robotic Manipulation with a Human in the Loop
While humans can naturally feel forces as they manipulate objects, robots need special instrumentation to provide this capability. Force and torque sensing is crucial to enable robots to perform manipulation tasks such as picking up delicate items, screwing in parts for assembly, and handling deformable objects. In this paper, I present a force sensing data acquisition system that I implemented...
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Authors' current addresses: A.C. Sanderson, Department of Electrical, Computer and Systems Engineering, Rensselaer Polytechnic Institute, Troy, NY 12180; M.A. Peshkin, Department of Mechanical Engineering, The Technological Institute, Northwestern University, 2145 Sheridan Rd., Evanston, IL 60201; L.S. Homem de Mello, Robotics Institute, Department of Electrical and Computer Engineering, Camegi...
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A configuration map is defined and computed, mapping all conflgumtions of a part before an elementary manipulative operation to all possible outcomes. Configuration maps provide abasis for planning the operation sequences which occur in parts-feeder designs or in more general sensorless manipulation strategies for robots. Sequences of elementary operations are represented as matrix-products of ...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automation Science and Engineering
سال: 2020
ISSN: 1545-5955,1558-3783
DOI: 10.1109/tase.2020.2978917