Control Architecture for Sensor-Based Two-Handed Manipulation
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.
KeywordsControl Architecture Service Robot Visual Servoing Global Reference Frame Dexterous Manipulation
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