Strategy investigation with generalized attractive regions

摘要

In our previous work, the concept of generalized attractive region in strategy investigation has been proposed. With this simple concept, a logical way to form strategies to achieve high precision tasks with minimum sensory feedback was achieved. The concept has been successfully applied to some of robotic assembly, robotic pushing and robotic grasping systems. In this paper, the conditions of the environment, which can form attractive regions, are systematically analyzed in theory. Through simulation results, it shows that the robotic assembly, robotic grasping and robotic pushing systems satisfy these conditions and therefore there are some attractive regions formed by the environment which can be used to achieve high precision sensorless manipulation.