Romansy 16 pp 237-244 | Cite as

Control Architecture for Sensor-Based Two-Handed Manipulation

  • Wojciech Szynkiewicz
  • Cezary Zieliński
  • Witold Czajewski
  • Tomasz Winiarski
Part of the CISM Courses and Lectures book series (CISM, volume 487)


In this paper we propose a sensor-based control architecture for two-handed robotic manipulation in a partially structured environment. We deal with two major aspects of sensor-based manipulation: visual localisation and recognition of objects and utilization of force and torque measurements. We also take into account that service robots should be endowed with reasoning capabilities about motions that have to executed and that high level operations must be translated into trajectories to be executed by the manipulators. As a benchmark task we chose the manipulation of Rubik’s cube.


Control Architecture Service Robot Visual Servoing Global Reference Frame Dexterous Manipulation 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Wojciech Szynkiewicz
    • 1
  • Cezary Zieliński
    • 1
  • Witold Czajewski
    • 2
  • Tomasz Winiarski
    • 1
  1. 1.Faculty of Electronics and Information Technology, Institute of Control and Computation EngineeringWarsaw University of Technology (WUT)WarsawPoland
  2. 2.Faculty of Electrical Engineering, Institute of Control and Industrial ElectronicsWUTWarsawPoland

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