Real-time Perception meets Reactive Motion Generation.
IEEE Robotics and Automation Letters(2018)
摘要
We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate models, and hard-to-predict environment dynamics. We quantify the importance of continuous, real-time perception and its tight integration with reactive motion generation methods in dynamic manipulation scenarios. We compare three different sy...
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关键词
Robot sensing systems,Planning,Real-time systems,Dynamics,Visualization,Uncertainty
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