書誌事項
- タイトル別名
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- 2P2-J04 Integration of Visual-Feedback by 3-D PointCloud Registration into Task-Level Error Recovery(Humanoid)
抄録
In this paper, integration of local error recovery by visual-feedback and task-level error recovery system is described. In order to build an integrated robot system which utilizes first-order logic representation at the top-level, implementing error recovery in task-level and motion-level is important. In this paper, we focus on motion-level error recovery. Motion-level error is resolved by visual-feedback and motion planner module. In proposed system, top-level task executive does not know about it. Key features of the system are: (1) local error recovery by portable visual-feedback. (2) to utilize symbol to indicate goals of motion controller rather than to use literal pose representation and background updating of the properties of symbols (3) object tracking based-on color-range sensor using particle filter method.
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2011 (0), _2P2-J04_1-_2P2-J04_4, 2011
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390282680913753088
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- NII論文ID
- 110009711664
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可