Integrating Sensing, Task Planning, and Execution

Abstract-This paper deals with enhancing the level of autonomy in a robotic work cell. With that mission in mind, we present here an integrated framework for the sensing, the planning, and the executionaspects of assembly. In experimental demonstrations of this system on a PUMA762, we can now throw objects randomly into the workspace of the robot and the robot then automatically synthesizes a manipulation plan that includesthe operationsof sensing,grasping,and regrasping.Each operation is invoked only when it is deemed necessary for the successful execution of assembly.

• Type: Conference
• Year: 1994
• Where: ICRA
• Authors: C. P. Tung, Avinash C. Kak
• Keywords: Abstract-This Paper Deals, ICRA 1994, Robotic Work Cell, Robotics, Sensing