DocumentCode
2435128
Title
Autonomous dual-arm mobile manipulator crew assistant for surface operations: Force/vision-guided grasping
Author
Zereik, E. ; Sorbara, A. ; Casalino, G. ; Didot, F.
Author_Institution
DIST, Univ. of Genoa, Genoa, Italy
fYear
2009
fDate
11-13 June 2009
Firstpage
710
Lastpage
715
Abstract
Objective of the overall system is that of understanding (and demonstrating) what are the tasks that a robotic crew assistant must be able to execute, in order to be effective for space exploration missions. One of the most important tasks to be accomplished is the autonomous grasping of objects, which has been achieved through a vision and force-based control strategy. This paper deals with the completion of the autonomous grasping task previously described.
Keywords
aerospace robotics; force control; manipulators; mobile robots; robot vision; autonomous dual-arm mobile manipulator crew assistant; force-based control strategy; space exploration mission; space robotics; surface operation; vision-guided grasping; Force control; Human robot interaction; Humanoid robots; Mobile robots; Orbital robotics; Prototypes; Robot vision systems; Space exploration; Space missions; Testing; autonomous grasping; force; space robotics; vision;
fLanguage
English
Publisher
ieee
Conference_Titel
Recent Advances in Space Technologies, 2009. RAST '09. 4th International Conference on
Conference_Location
Istanbul
Print_ISBN
978-1-4244-3627-9
Electronic_ISBN
978-1-4244-3628-6
Type
conf
DOI
10.1109/RAST.2009.5158284
Filename
5158284
Link To Document