Title :
Active exploration of robotic workcell
Author :
Gadagkar, Hrishikesh P. ; Trivedi, Mohan M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Tennessee Univ., Knoxville, TN, USA
Abstract :
A description is given of research efforts directed towards the development of an active exploration system performing acquisition, processing, and integration of sensory inputs from vision, point laser range, tactile, and force/torque sensors. An attempt is made to bring out the rationale that robotic workcell exploration can benefit by utilizing noncontact (e.g., vision, range, and proximity) as well as contact (e.g., tactile and force/torque) sensors while accomplishing tasks such as object identification, object localization, object grasping and object manipulation. The experimental results presented indicate that the rationale utilized in the design of the multisensory robotic active exploration scheme can work successfully.<>
Keywords :
computer vision; computerised pattern recognition; image sensors; robots; computer vision; force/torque sensors; image sensors; multisensory active exploration system; object grasping; object identification; object localization; object manipulation; point laser range; proximity; robotic workcell exploration; sensor fusion; tactile sensors; Capacitive sensors; Computer vision; Force sensors; Humans; Laboratories; Robot sensing systems; Robot vision systems; Sensor phenomena and characterization; Tactile sensors; Torque;
Conference_Titel :
Systems, Man, and Cybernetics, 1991. 'Decision Aiding for Complex Systems, Conference Proceedings., 1991 IEEE International Conference on
Conference_Location :
Charlottesville, VA, USA
Print_ISBN :
0-7803-0233-8
DOI :
10.1109/ICSMC.1991.169794