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Title: iTaSC: a tool for multi-sensor integration in robot manipulation
Authors: Smits, Ruben
De Laet, Tinne
Claes, Kasper
Bruyninckx, Herman
De Schutter, Joris
Issue Date: 2009
Publisher: Springer London Ltd.
Host Document: Multisensor Fusion and Integration for Intelligent Systems edition:An Edition of the Selected Papers from the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems 2008 pages:235-254
Article number: 2/4
Abstract: iTASC (acronym for `instantaneous task specification and control') is a systematic constraint-based approach to specify complex tasks of general sensor-based robot systems. iTASC integrates both instantaneous task specification and estimation of geometric uncertainty in a unified framework. Automatic derivation of controller and estimator equations follows from a geometric task model that is obtained using a systematic task modeling procedure. The approach applies to a large variety of robot systems (mobile robots, multiple robot systems, dynamic human-robot interaction, etc.), various sensor systems, and different robot tasks. Using an example task, this paper shows that iTASC is a powerful tool for multi-sensor integration in robot manipulation. The example task includes multiple sensors: encoders, a force sensor, cameras, a laser distance sensor and a laser scanner. The paper details the systematic modeling procedure for the example task and elaborates on the task specific choice of two types of task coordinates: feature coordinates, defined with respect to object and feature frames, which facilitate the task specification, and uncertainty coordinates to model geometric uncertainty. Experimental results for the example task are presented.
ISBN: 978-3-540-89858-0
Publication status: published
KU Leuven publication type: IHb
Appears in Collections:Production Engineering, Machine Design and Automation (PMA) Section

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