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Multi-legged walking robots often make use of sophisticated control architectures to play their strengths in rough and unknown environments. The adaptability of these robots is an essential skill to achieve the maneuverability and autonomy needed in their application fields. In this work we present a reactive control approach for the hexapod LAURONV, which enables it to overcome large obstacles and...
The main goal of mobile service robots is to assist human beings in everyday life. Instead of limiting treatment to just artificial, structured lab areas, such systems must in particular be able to operate well in human, unstructured environments. In this paper we present an approach to recognize and localize as well as reliably and robustly manipulate objects in the presence of obstacles. Our method...
Service robots need many different informations about the objects, to grasp and manipulate them. Besides the physical information such as the geometry and weight, semantic information of the objects is also needed. To model both of these informations, we have constructed a multimodal object modeling center. It can model the physical properties of the object, such as the textures and the 3D geometry,...
The major goal of research regarding mobile service robotics is to enable a robot to assist human beings in their everyday life. This implies that the robot will have to deal with everyday life environments. One of the most important steps towards able service robots is to enhance the ability to operate well in unstructured living environments. In this paper we focus on the integration of object recognition,...
The recognition and localization of objects in space is of fundamental interest in many robot vision applications, especially in those that are supposed to provide services to human beings. The trivial example of any such task is manipulation, i.e., providing a robot the means of handling objects. In this work, we discuss the chances and the problems experienced when using a time-of-flight camera...
Grasping and manipulation are the most important key functions for service robots to help people to handle the everyday tasks in household. After the object is grasped, the internal force between the hand and object is very important for fine manipulation. In this paper, we present the computation of internal force of grasped objects using joint torques. An automatic grasp planning system is used...
Regrasp operations consist of a sequence of pick-and-place operations, which are very useful to avoid collisions with the environment and to overcome the kinematic limitations in some cases. In this work, we propose an automatic planning system for regrasp operations for a multifingered robotic hand. The stable planes of the object to be grasped are automatically found. The minimal angle allowed to...
Automatic grasp planning systems are very important for service robots, which compute what forces should be exerted onto the object and how those forces can be applied by robotic hands. In this paper, a highly integrated grasp planning system is introduced. Initial grasp is computed in the grasp simulator GraspIt! combining hand preshapes and automatically generated approach directions. With fixed...
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