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Manipulation tasks with a dual arm system including obstacles removing

Author
Rodriguez, C.; Montaño, A.; Suarez, R.
Type of activity
Presentation of work at congresses
Name of edition
18th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'13
Date of publication
2013
Presentation's date
2013-09-10
Book of congress proceedings
18th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'13
First page
1
Last page
7
DOI
https://doi.org/10.1109/ETFA.2013.6648033 Open in new window
Repository
http://hdl.handle.net/2117/21126 Open in new window
URL
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=6648033&refinements%3D4281672655%26queryText%3DETFA+2013 Open in new window
Abstract
The paper deals with the problem of planning movements of a two-hand system, considering the possibility of using one hand to remove potential obstacles in order to grasp a desired object with the other hand. The approach is based on a Probabilistic Road Map that does not rule out samples implying collisions with removable objects but instead classify them according to the collided obstacle(s), and allows the search of free paths with the indication of which objects must be removed from the work...
Citation
Rodriguez, C.; Montaño, A.; Suarez, R. Manipulation tasks with a dual arm system including obstacles removing. A: IEEE International Conference on Emerging Technologies and Factory Automation. "18th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA'13". Cagliari: 2013, p. 1-7.
Group of research
SIR - Service and Industrial Robotics

Participants

Attachments