Abstract
iTASC (acronym for ‘instantaneous task specification using constraints) deschutter2006 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.
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Smits, R., De Laet, T., Claes, K., Bruyninckx, H., De Schutter, J. (2009). iTASC: A Tool for Multi-Sensor Integration in Robot Manipulation. In: Hahn, H., Ko, H., Lee, S. (eds) Multisensor Fusion and Integration for Intelligent Systems. Lecture Notes in Electrical Engineering, vol 35. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-89859-7_17
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