Mobile Manipulation in Unstructured Environments: Perception, Planning, and Execution
作者： Sachin Chitta , E. Jones , Matei Ciocarlie , Kaijen Hsiao
关键词:
摘要: Unstructured human environments present a substantial challenge to effective robotic operation. Mobile manipulation in requires dealing with novel unknown objects, cluttered workspaces, and noisy sensor data. We an approach mobile pick place such using combination of two-dimensional (2-D) three-dimensional (3-D) visual processing, tactile proprioceptive data, fast motion planning, reactive control monitoring, grasping. demonstrate our by two-arm system objects. Reactive components allow account for uncertainty arising from sensors, inaccurate perception (e.g., object detection or registration), dynamic changes the environment. also set tools that allows be easily configured within short time new system.
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