Rubik’s Cube Puzzle as a Benchmark for Service Robots
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چکیده
This paper describes Rubik’s cube manipulation as an example of highly demanding benchmark task for two-handed service robot. Vision is used both for acquiring the cube (servoing) and identifying its initial configuration. During two-handed manipulation force/torque measurements are used to prevent jamming of the cube. Rubik’s cube solver, nominal trajectory generation, visual servoing, and position-force control have been successfully integrated by the MRROC++ robot programming framework.
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تاریخ انتشار 2006