Title :
On-line sensing and action planning in an autonomous and distributed multi-arm system
Author :
Zha, Hongbin ; Nagahama, Hiroki ; Hasegawa, Tsutomu
Author_Institution :
Graduate Sch. of Inf. Sci. & Electr. Eng., Kyushu Univ., Fukuoka, Japan
Abstract :
In this paper, we describe a method for pushing an object on a slanted plane by multiple robot arms in an autonomous and cooperative manner. In order to decide its own action, each arm obtains accurate estimation of poses of the object by fusing information obtained from its own force/torque(F/T) and vision sensors. Furthermore, we present a new planning algorithm for changing pushing points so that the system would have more flexibility to various situations. The effectiveness of the proposed method is investigated by some numerical simulations
Keywords :
computer vision; image sensors; path planning; action planning; autonomous multi-arm system; distributed multi-arm system; multiple robot arms; online sensing; planning algorithm; Algorithm design and analysis; Arm; Force sensors; Fuses; Gravity; Information science; Manipulators; Numerical simulation; Robot sensing systems; Sensor fusion;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.633112
