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Preprints, Working Papers, ... Year : 2020

Integrating Path Planning and Visual Servoing in Manipulation Tasks

Abstract

This paper proposes a novel methodology to integrate both geometric manipulation planning and visual servoing. Geometric manipulation planning is able to handle robots with many degrees of freedom in cluttered environments while visual servoing makes execution of the planned trajectories robust to inaccuracies. The method is illustrated by a demonstration on a real humanoid robot manipulating an object.
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Dates and versions

hal-02494731 , version 1 (29-02-2020)

Identifiers

  • HAL Id : hal-02494731 , version 1

Cite

Joseph Mirabel, Alexis Nicolin, Florent Lamiraux, Olivier Stasse, Sébastien Boria. Integrating Path Planning and Visual Servoing in Manipulation Tasks. 2020. ⟨hal-02494731⟩
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