DocumentCode :
2242933
Title :
A hierarchical behavior-based approach to manipulation tasks
Author :
Wasik, Zbigniew ; Saffiotti, Alessandro
Author_Institution :
Dept. of Technol., Orebro Univ., Sweden
Volume :
2
fYear :
2003
fDate :
14-19 Sept. 2003
Firstpage :
2780
Abstract :
Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most current systems for manipulation are still designed for just one specific task. In this paper, we propose a hierarchical behavior-based system that can perform several vision-based manipulation tasks by using different combinations of the same set of basic behaviors. Behaviors can run concurrently, and they are arbitrated through "if-then" rules. We show experiments involving object tracking, grasping and placing, both with static and moving objects.
Keywords :
hierarchical systems; industrial manipulators; position control; robot vision; tracking; control modules; hierarchical behavior; if-then rules; manipulators; moving objects; object grasping; object tracking; pick-and-place manipulation; static objects; vision-based manipulation tasks; Automata; Control systems; Force control; Fuzzy logic; Mobile robots; Predictive models; Process design; Robot kinematics; Sensor systems; Visual servoing;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on
ISSN :
1050-4729
Print_ISBN :
0-7803-7736-2
Type :
conf
DOI :
10.1109/ROBOT.2003.1242013
Filename :
1242013
Link To Document :
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