Integrating sensing, task planning and execution

Abstract

This paper deals with enhancing the level of autonomy in a robotic work cell. With that mission in mind, we present here an integrated framework for the sensing, the planning, and the execution aspects of assembly. In experimental demonstrations of this system on a PUMA 762, we can now throw objects randomly into the work space of the robot and the robot then automatically synthesizes a manipulation plan that includes the operations of sensing and regrasping only when these are deemed necessary for the successful execution of assembly.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>