TY - GEN
T1 - Constrained manipulation in unstructured environment utilizing hierarchical task specification for indirect force controlled robots
AU - Lutscher, Ewald
AU - Cheng, Gordon
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/9/22
Y1 - 2014/9/22
N2 - In this work, we reformulate our previously developed strategy for operating unknown constrained mechanisms, to fit our new task specification framework for indirect force controlled robots, which we presented recently. The main improvement is a significant reduction of erroneous forces, which is achieved by breaking the manipulation task down into a hierarchical set of subtasks instead of having interfering tasks. The improvement is evaluated by conducting a series of manipulation experiments using the old and new approach and comparing the average erroneous forces.
AB - In this work, we reformulate our previously developed strategy for operating unknown constrained mechanisms, to fit our new task specification framework for indirect force controlled robots, which we presented recently. The main improvement is a significant reduction of erroneous forces, which is achieved by breaking the manipulation task down into a hierarchical set of subtasks instead of having interfering tasks. The improvement is evaluated by conducting a series of manipulation experiments using the old and new approach and comparing the average erroneous forces.
UR - https://www.scopus.com/pages/publications/84929224559
U2 - 10.1109/ICRA.2014.6907359
DO - 10.1109/ICRA.2014.6907359
M3 - Conference contribution
AN - SCOPUS:84929224559
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3471
EP - 3476
BT - Proceedings - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2014 IEEE International Conference on Robotics and Automation, ICRA 2014
Y2 - 31 May 2014 through 7 June 2014
ER -