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A hierarchical behavior-based approach to manipulation tasks
Örebro University, Department of Technology. (Mobile Robotics Lab)
Örebro University, Department of Technology. (Mobile Robotics Lab)ORCID iD: 0000-0001-8229-1363
2003 (English)In: IEEE International Conference on Robotics and Automation: Proceedings : ICRA '03., 2003, p. 2780-2785Conference paper, Published paper (Refereed)
Abstract [en]

Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most current systems for manipulation are still designed for just one specific task. In this paper, we propose a hierarchical behavior-based system that can perform several vision-based manipulation tasks by using different combinations of the same set of basic behaviors. Behaviors can run concurrently, and they are arbitrated through "if-then" rules. We show experiments involving object tracking, grasping and placing, both with static and moving objects.

Place, publisher, year, edition, pages
2003. p. 2780-2785
National Category
Computer Sciences
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-3924DOI: 10.1109/ROBOT.2003.1242013ISBN: 0-7803-7736-2 (print)OAI: oai:DiVA.org:oru-3924DiVA, id: diva2:138223
Conference
IEEE International Conference on Robotics and Automation, ICRA '03, Taipei, TW, 14-19 Sept. 2003
Available from: 2007-08-14 Created: 2007-08-14 Last updated: 2018-01-13Bibliographically approved

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Wasik, ZbigniewSaffiotti, Alessandro

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Citation style
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  • de-DE
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Output format
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