Vision and force driven sensorimotor primitives for robotic assembly skills
- 19 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 234-240 vol.3
- https://doi.org/10.1109/iros.1995.525977
Abstract
Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.Keywords
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