Integration of planning and execution in force controlled compliant motion

13 years 10 months ago

Download people.mech.kuleuven.be

This paper presents the Compliant Task Generator: a new approach for the automatic conversion of a geometric path generated by a compliant path planner to a force based task specification for a compliant robot controller. Based on the geometric model of a moving object and its environment, a compliant path planner generates a set of six-dimensional

Wim Meeussen, Ernesto Staffetti, Herman Bruyninckx

Real-time Traffic

Compliant Path Planner | Compliant Robot Controller | Compliant Task Generator | RAS 2008 |

claim paper

» A General Contact Model for DynamicallyDecoupled ForceMotion Control

» Active compliant motion a survey

» Motion Tasks and Force Control for Robot Manipulators on Embedded 2D Manifolds

» Enhancing the reactive capabilities of integrated planning and control with cooperative ex...

» VIsion force control in taskoriented grasping and manipulation

» Errortolerant execution of complex robot tasks based on skill primitives

» Reconfigurable Path Planning for an Autonomous Unmanned Aerial Vehicle

» Grasping POMDPs

Post Info
More Details (n/a)

Added	28 Dec 2010
Updated	28 Dec 2010
Type	Journal
Year	2008
Where	RAS
Authors	Wim Meeussen, Ernesto Staffetti, Herman Bruyninckx, Jing Xiao, Joris De Schutter

Comments (0)

Sciweavers

Integration of planning and execution in force controlled compliant motion

Compliant Path Planner | Compliant Robot Controller | Compliant Task Generator | RAS 2008 |

Explore & Download

Productivity Tools

Document Tools

Image Tools

Sciweavers