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Robotics 2018, 7(4), 76; https://doi.org/10.3390/robotics7040076

Motion Planning and Reactive Control Algorithms for Object Manipulation in Uncertain Conditions

Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli, Via Roma 29, 81031 Aversa, Italy
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This paper is an extended version of our paper published in Costanzo, M.; De Maria, G.; Lettera, G.; Natale, C.; Pirozzi, S. Flexible Motion Planning for Object Manipulation in Cluttered Scenes. In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Porto, Portugal, 29–31 July 2018.
Received: 19 October 2018 / Revised: 12 November 2018 / Accepted: 23 November 2018 / Published: 27 November 2018
(This article belongs to the Special Issue Applied Intelligent Robot for Uncertain Environments)
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Abstract

This work proposes the application of several smart strategies for object manipulation tasks. A real-time flexible motion planning method was developed to be adapted to typical in-store logistics scenarios. The solution combines and optimizes some state-of-the-art techniques to solve object recognition and localization problems with a new hybrid pipeline. The algorithm guarantees good robustness and accuracy for object detection through depth images. A standard planner plans collision-free trajectories throughout the whole task while a proposed reactive motion control is active. Distributed proximity sensors were adopted to locally modify the planned trajectory when unexpected or misplaced obstacles intervene in the scene. To implement a robust grasping phase, a novel slipping control algorithm was used. It dynamically computes the grasp force by adapting it to the actual object physical properties so as to prevent slipping. Experimental results carried out in a typical supermarket scenario demonstrate the effectiveness of the presented methods. View Full-Text
Keywords: reactive robot control; robot motion planning; object recognition; obstacle avoidance; grasping; force control reactive robot control; robot motion planning; object recognition; obstacle avoidance; grasping; force control
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).
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Costanzo, M.; De Maria, G.; Lettera, G.; Natale, C.; Pirozzi, S. Motion Planning and Reactive Control Algorithms for Object Manipulation in Uncertain Conditions. Robotics 2018, 7, 76.

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