Towards Describing and Deploying Whole-Body Generic Manipulation Behaviours

José de Gea Fernández, Dennis Mronga, Malte Wirkus, Vinzenz Bargsten, Behnam Asadi, Frank Kirchner

In: 2015 Space Robotics Symposium. Space Robotics Symposium Present and Future Robotics in Space Applications October 29-30 Glasgow United Kingdom IET 2015.


This paper presents our current work on integrating three key components aiming at significantly increasing manipulation performance: namely, trajectory planning, whole-body sensor-based reactive control, and dynamic control into a newly developed modular, robot-independent and easily-reconfigurable software framework which allows reusing components to describe a variety of complex manipulation behaviours.


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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence