Active exploration of robotic workcell

Abstract

A description is given of research efforts directed towards the development of an active exploration system performing acquisition, processing, and integration of sensory inputs from vision, point laser range, tactile, and force/torque sensors. An attempt is made to bring out the rationale that robotic workcell exploration can benefit by utilizing noncontact (e.g., vision, range, and proximity) as well as contact (e.g., tactile and force/torque) sensors while accomplishing tasks such as object identification, object localization, object grasping and object manipulation. The experimental results presented indicate that the rationale utilized in the design of the multisensory robotic active exploration scheme can work successfully.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>