Manipulación autónoma multiprósito en el Robot de Servicios Jaume-2

0Citations
Citations of this article
13Readers
Mendeley users who have this article in their library.

Abstract

This paper presents a modular control architecture that enables a mobile manipulator to compliantly perform manipulation tasks in partially-known everyday human environments. An impedance velocity/force controller that allows the execution of a great variety of tasks under the Task Frame Formalism (TFF) is implemented. Tasks are represented as a net of basic abilities which are performed by the robot using the impedance controller. Mechanisms for switching between abilities according to the robot's perceptual state are defined. We show the validity of our approach on the UJI Service Robot, making it to perform a common daily task such as opening a door. Finally, we apply this framework to make progress on the new version of the UJI Librarian Robot, making a great step forward in the way the robot manipulates books. Copyright © 2008 CEA-IFAC.

Cite

CITATION STYLE

APA

Prats, M., Sanz, P. J., Martínez, E., Marín, R., & Del Pobil, A. P. (2008). Manipulación autónoma multiprósito en el Robot de Servicios Jaume-2. RIAI - Revista Iberoamericana de Automatica e Informatica Industrial, 5(2), 25–37. https://doi.org/10.1016/S1697-7912(08)70142-0

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Save time finding and organizing research with Mendeley

Sign up for free