This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Citation Map Services Email this article to a friend Similar articles in this journal Similar articles in Web of Science Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via HighWire Citing Articles via Web of Science (3) Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by De Schutter, J. Articles by Bruyninckx, H. Search for Related Content Social Bookmarking                         What's this?

Constraint-based Task Specification and Estimation for Sensor-Based Robot Systems in the Presence of Geometric Uncertainty

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium, Joris.DeSchutter{at}mech.kuleuvan.be

Tinne De Laet

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium

Johan Rutgeerts

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium

Wilm Decré

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium Joris.DeSchutter{at}mech.kuleuvan.be

Ruben Smits

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium Joris.DeSchutter{at}mech.kuleuvan.be

Erwin Aertbeliën

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium Joris.DeSchutter{at}mech.kuleuvan.be

Kasper Claes

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium Joris.DeSchutter{at}mech.kuleuvan.be

Herman Bruyninckx

Department of Mechanical Engineering, Katholieke Universiteit Leuven, Celestijnenlaan 300B, B3001 Leuven (Heverlee), Belgium Joris.DeSchutter{at}mech.kuleuvan.be

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.

Key Words: constraint-based programming • task specification • estimation • geometric uncertainty

The International Journal of Robotics Research, Vol. 26, No. 5, 433-455 (2007)
DOI: 10.1177/027836490707809107


CiteULike    Complore    Connotea    Del.icio.us    Digg    Reddit    Technorati    Twitter    What's this?

This article has been cited by other articles:

				A. C. Leite, F. Lizarralde, and Liu Hsu Hybrid Adaptive Vision--Force Control for Robot Manipulators Interacting with Unknown Surfaces The International Journal of Robotics Research, July 1, 2009; 28(7): 911 - 926. [Abstract] [PDF]