Object manipulation using robot arm-hand system

Cheon, Seyoung; Ryu, Kwanghyun; Oh, Yonghwan

doi:10.1109/urai.2013.6677503

Cited by 6 publications

(2 citation statements)

References 1 publication

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“…the robot side), the robot was a one-armed robot and the arm had seven degrees of freedom. The robot is capable of grasping and releasing objects at specific positions [10]. The primary task of the robot is to pick up and place objects on the table at certain positions that the user determines.…”

Section: Robotic Teleoperation Systemmentioning

confidence: 99%

Task-oriented teleoperation through natural 3D user interaction

Kim

Ryu

et al. 2014

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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Teleoperation provides a technical means to perform desired tasks in remote environments. Teleoperation using direct control and haptic-mediated interactions requires significant effort for unskilled users to understand how to operate the robot. Task-oriented teleoperation supports human-level understanding to directly transfer the meaning of tasks from the user to the robot. In this paper, we propose a natural 3D interface to transfer task knowledge to a remote robot. We design a 3D manipulation system in a mixed reality environment that combines human hand gestures and a 3D view of the remote robot. We demonstrate that the remote robot successfully executes the ordered task even in dynamic environments.

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Section: Robotic Teleoperation Systemmentioning

confidence: 99%

Task-oriented teleoperation through natural 3D user interaction

Kim

Ryu

et al. 2014

2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI)

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“…In the literature, three methods have been used to transport an object by mobile robots: Grasping, Pushing, and Caging [6]. In the Grasping method -which is a popular method in multifingered hands and manipulators-the robots are organized in a way that they grasp the object and maintain form-closure or force-closure conditions during the whole transportation, as in [7][8][9]. In the Pushing method robots push the object to transport it, and thus do not bear the objects weight [10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Cooperative object transportation by multiple mobile manipulators through a hierarchical planning architecture

Hekmatfar

Masehian

Mousavi

2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

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Although planning a collision-free path for an object alone has long been solved, planning for safe transportation of objects by robots in presence of obstacles is a challenging task due to high dimensions of the system's composite configuration space. This paper addresses the problem of cooperative object transportation by multiple mobile manipulators through a twolayered Centralized-Decentralized architecture. In the higher (centralized) layer a collision-free global path is planned for the object using a novel sampling-based method called Optimallyconnected Random Tree and without considering the space needed for obstacle avoidance of the robots, and in the lower (decentralized) layer the robots locally avoid obstacles and coordinate their motions with each other in order to reach the object and grasp, transport, and place it at the target position. The proposed method was implemented in Webots™ software for KUKA youBot mobile manipulators and its effectiveness was verified through numerous transportation scenarios.

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Motion Planning and Object Grasping of Baxter Robot with Bionic Hand

Fei

Chen

et al. 2017

Communications in Computer and Information Science

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Object manipulation using robot arm-hand system

Cited by 6 publications

References 1 publication

Task-oriented teleoperation through natural 3D user interaction

Task-oriented teleoperation through natural 3D user interaction

Cooperative object transportation by multiple mobile manipulators through a hierarchical planning architecture

Motion Planning and Object Grasping of Baxter Robot with Bionic Hand

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