Perception for General-purpose Robot Manipulation

A control paradigm for general purpose manipulation systems

Mechanical end effectors capable of dextrous manipulation are now a reality. Solutions to the high level control issues, however, have so far proved difficult to formulate. We propose a methodology for control which produces the functionality required for a general purpose ma­ nipulation system. It is clear that the state of a hand/object system is a complex interaction between the geometry of ...

MFR (Multi-purpose Field Robot) based on Human-robot Cooperative Manipulation for Handling Building Materials

A field robot is defined as one that executes tasks while moving around in a dynamic environment where structures, operators and equipments are constantly changing. The basic elements of a field robot consist of a mobile platform for executing a particular operation in a dynamic environment, sensors and intelligence technology to recognize and cope with barriers in the routes in which they move...

Using a cognitive architecture for general purpose service robot control

A humanoid service robot equipped with a set of simple action skills including navigating, grasping, recognizing objects or people, among others, is considered in this paper. By using those skills the robot should complete a voice command expressed in natural language encoding a complex task (defined as the concatenation of a number of those basic skills). As a main feature, no traditional plan...

Physics-empowered Perception for Robot Grasping and Dexterous Manipulation

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GripSee: A Gesture-controlled Robot for Object Perception and Manipulation