Simple coarse sensing to achieve high precision From attractive region in environment to constrained region in environment
Qiao H(乔红); C. Ma; R. Li; X. Q. Li; Z. Y. Chen; W. Wu; L. J. Xu
Source PublicationSystems Science & Control Engineering
2017
Volume5Issue:1Pages:16-24
Abstract
As a fundamental yet urgent issue, achieving high-precision robotic manipulation is becoming
an active research area. Unfortunately, it is practically impossible to obtain an unlimited increase
in sensor accuracy. In contrast, sensor-less manipulation approaches have attracted considerable
attention. In particular, the concept of attractive region in environment has achieved encouraging
results. Moreover, note that certain information cannot be captured directly from the sensors.
With the above observations and inspired by the behaviour mechanism of human beings when
accomplishing complex operations, this article proposed a novel bio-inspired co-sensing framework,
which aims to solve the high-precision sensing problem by simple coarse sensors. One of the distinguishing
features of the established framework is the constrained region in environment, the
key idea of which is the integration of the relaxed constraint and the coarse sensor information.
An illustrative example is provided to demonstrate the effectiveness and benefits of our theoretical
findings.
KeywordAttractive Region In Environment (Arie) ConstraIned Region In Environment (Crie) High-precision Robotic Manipulation
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/19901
Collection复杂系统管理与控制国家重点实验室_机器人理论与应用
Recommended Citation
GB/T 7714
Qiao H,C. Ma,R. Li,et al. Simple coarse sensing to achieve high precision From attractive region in environment to constrained region in environment[J]. Systems Science & Control Engineering,2017,5(1):16-24.
APA Qiao H.,C. Ma.,R. Li.,X. Q. Li.,Z. Y. Chen.,...&L. J. Xu.(2017).Simple coarse sensing to achieve high precision From attractive region in environment to constrained region in environment.Systems Science & Control Engineering,5(1),16-24.
MLA Qiao H,et al."Simple coarse sensing to achieve high precision From attractive region in environment to constrained region in environment".Systems Science & Control Engineering 5.1(2017):16-24.
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