|Strategy investigation with generalized attractive regions|
|会议名称||19th IEEE International Conference on Robotics and Automation (ICRA)|
|会议录名称||2002 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS|
|会议日期||MAY 11-15, 2002|
|摘要||In our previous work [Qiao, 2000], the concept of generalized attractive region in strategy investigation has been proposed. With this simple concept, a logical way to form strategies to achieve high precision tasks with minimum sensory feedback was achieved. The concept has been successfully applied to some of robotic assembly[Qiao, Tso, 1999], robotic pushing and robotic grasping systems, which was reported by "Advanced Manufacturing Technology Alert" [Editor, 1999].|
In this paper, the conditions of the environment, which can form attractive regions, are systematically analyzed in theory. Through simulation results, it shows that the robotic assembly, robotic grasping and robotic pushing systems satisfy these conditions and therefore there are some attractive regions formed by the environment which can be used to achieve high precision sensor-less manipulation.
|关键词||Objects Controllability Uncertainty Plane Parts|
|Qiao, H. Strategy investigation with generalized attractive regions[C],2002.|