2013 IEEE/RSJ International Conference on Intelligent Robots and Systems 2013
DOI: 10.1109/iros.2013.6696860
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Error recovery using task stratification and error classification for manipulation robots in various fields

Abstract: Dexterous manipulation is an important function for working robots. Manipulator tasks such as grasping, assembly and disassembly can generally be divided into several motion primitives. We call such motion primitives "skills" and explain how most manipulator tasks can be composed of sequences of these skills. We will address the issues involved with various types of robots such as maintenance robots and service robots. We have considered hierarchizing the manipulation tasks of these robots since their tasks ha… Show more

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Cited by 27 publications
(33 citation statements)
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“…We proposed a new type of error recovery method that uses both forward and backward passes in Ref. 6. Figure 1 shows a diagram for the basic concept of our error recovery.…”
Section: Concept Of Error Recoverymentioning
confidence: 99%
See 2 more Smart Citations
“…We proposed a new type of error recovery method that uses both forward and backward passes in Ref. 6. Figure 1 shows a diagram for the basic concept of our error recovery.…”
Section: Concept Of Error Recoverymentioning
confidence: 99%
“…3). For example, consider the following order of priority for error causes: 6 . This is an example derived from a case where p 1 = 30%, p 2 = 25%, p 3 = 20%, p 4 = 12%, p 5 = 8% and p 6 = 5%.…”
Section: (Case 1) Cause Of An Error Cannot Be Estimatedmentioning
confidence: 99%
See 1 more Smart Citation
“…7 and proposed a new method of error recovery in Ref. 8. These methods are based on the concepts of task stratification and error classification.…”
Section: Significance Of Visual Sensing In Error Recoverymentioning
confidence: 99%
“…[1][2][3][4][5][6] We have proposed an error recovery method using the concepts of task stratification and error classification. 7,8 In a robot system with error recovery capability, sensing is performed by using vision systems for the judgment of errors mainly at important points. For the purpose of evading errors as much as possible, it is desirable to perform visual sensing for error judgments at several times.…”
Section: Introductionmentioning
confidence: 99%