Multisensory robots and sensor-based path generation

摘要

The paper first outlines the recent sensory developments in the DFVLR robotics lab, these are different force-torque sensors, laser range finders, inductive sensors and sensor balls for robot and 3D-computer-grafic control. With the example of our proposed multisensory arrangement implying vision, range sensing, force-torque and speech, the fine-motion planning and path generation techniques as developed in our lab are discussed. The special case of a two-arm cooperative robot using two force-torque-sensors is treated in more detail. Practical results are demonstrated in a film including cooperative two arm robot control.