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Communication Dans Un Congrès Année : 2005

Mobile platform configuration definition during grasping

Résumé

In this paper, we present a learning based method for the definition of the ARPH mobile platform configuration during grasping. Based on the principle of semi autonomy, the proposed scheme uses information provided by the user to help him(her) during the tedious task of manually coordinating the robot motions. From a crude posture provided by the user a reinforcement scheme is used to optimize the kinematic configuration of the MANUS robot to align the gripper with the axis of the object and grasp it. Simulation results illustrate the capability of the proposed method.
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Dates et versions

hal-00341325 , version 1 (17-07-2009)

Identifiants

  • HAL Id : hal-00341325 , version 1

Citer

Nasser Rezzoug, Philippe Gorce, Philippe Hoppenot, Etienne Colle. Mobile platform configuration definition during grasping. Association for the Advancement of Assistive Technology in Europe (AAATE 2005), Sep 2005, Lille, France. pp.429--433. ⟨hal-00341325⟩
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