Title :
Autonomous dual-arm mobile manipulator crew assistant for surface operations: Force/vision-guided grasping
Author :
Zereik, E. ; Sorbara, A. ; Casalino, G. ; Didot, F.
Author_Institution :
DIST, Univ. of Genoa, Genoa, Italy
Abstract :
Objective of the overall system is that of understanding (and demonstrating) what are the tasks that a robotic crew assistant must be able to execute, in order to be effective for space exploration missions. One of the most important tasks to be accomplished is the autonomous grasping of objects, which has been achieved through a vision and force-based control strategy. This paper deals with the completion of the autonomous grasping task previously described.
Keywords :
aerospace robotics; force control; manipulators; mobile robots; robot vision; autonomous dual-arm mobile manipulator crew assistant; force-based control strategy; space exploration mission; space robotics; surface operation; vision-guided grasping; Force control; Human robot interaction; Humanoid robots; Mobile robots; Orbital robotics; Prototypes; Robot vision systems; Space exploration; Space missions; Testing; autonomous grasping; force; space robotics; vision;
Conference_Titel :
Recent Advances in Space Technologies, 2009. RAST '09. 4th International Conference on
Conference_Location :
Istanbul
Print_ISBN :
978-1-4244-3627-9
Electronic_ISBN :
978-1-4244-3628-6
DOI :
10.1109/RAST.2009.5158284
