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Fine motion strategy for skill-based manipulation

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Abstract

Generally, a manipulator task can be divided into several motion primitives called “skills.” Skill-based motion planning is an effective way to execute a complicated task. When planning an assembly process, a technique of fine motion planning such as the backprojection method in configuration space is often used. This paper describes fine motion planning using a skill library, which consists of a pattern of trajectories of skill motions in configuration space. This method gives the initial position and orientation from which the object can reach the goal in skill-based manipulation.

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Authors and Affiliations

  1. Electrotechnical Laboratory, 1-1-4 Umezono, 305, Tsukuba, Ibarak, Japan

    Akira Nakamura, Tsukasa Ogasawara, Takashi Suehiro & Hideo Tsukune

Authors
  1. Akira Nakamura
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  2. Tsukasa Ogasawara
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  3. Takashi Suehiro
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  4. Hideo Tsukune
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Corresponding author

Correspondence to Akira Nakamura.

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Cite this article

Nakamura, A., Ogasawara, T., Suehiro, T. et al. Fine motion strategy for skill-based manipulation. Artificial Life and Robotics 1, 147–150 (1997). https://doi.org/10.1007/BF02471130

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  • DOI: https://doi.org/10.1007/BF02471130

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