A theory of generalized inverses applied to robotics
International Journal of Robotics Research
Robot Motion Planning
Advanced Robotics: Redundancy and Optimization
Advanced Robotics: Redundancy and Optimization
Robot Control: The Task Function Approach
Robot Control: The Task Function Approach
A Framework for the Control of Nonholonomic Mobile Manipulators
International Journal of Robotics Research
IEEE Transactions on Robotics
Integration of planning and execution in force controlled compliant motion
Robotics and Autonomous Systems
Hybrid Adaptive Vision-Force Control for Robot Manipulators Interacting with Unknown Surfaces
International Journal of Robotics Research
A framework for compliant physical interaction
Autonomous Robots
An autonomous mobile manipulator for assembly tasks
Autonomous Robots
Extending iTaSC to support inequality constraints and non-instantaneous task specification
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
International Journal of Robotics Research
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
SIMPAR'10 Proceedings of the Second international conference on Simulation, modeling, and programming for autonomous robots
Task-driven posture optimization for virtual characters
EUROSCA'12 Proceedings of the 11th ACM SIGGRAPH / Eurographics conference on Computer Animation
Task-driven posture optimization for virtual characters
Proceedings of the ACM SIGGRAPH/Eurographics Symposium on Computer Animation
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This paper introduces a systematic constraint-based approach to specify complex tasks of general sensor-based robot systems consisting of rigid links and joints. The approach integrates both instantaneous task specification and estimation of geometric uncertainty in a unified framework. Major components are the use of feature coordinates, defined with respect to object and feature frames, which facilitate the task specification, and the introduction of uncertainty coordinates to model geometric uncertainty. While the focus of the paper is on task specification, an existing velocity- based control scheme is reformulated in terms of these feature and uncertainty coordinates. This control scheme compensates for the effect of time varying uncertainty coordinates. Constraint weighting results in an invariant robot behavior in case of conflicting constraints with heterogeneous units. 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. Ample simulation and experimental results are presented.