Coordinated task execution for humanoid robots

Springer Tracts in Advanced Robotics

Volumn 21, Issue , 2006, Pages 259-267

  Asfour, T ^a   Ly, D N ^a   Regenstein, K ^a   Dillmann, R ^a  

^a FZI RESEARCH CENTER FOR INFORMATION TECHNOLOGY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ACOUSTIC FIELDS; ANTHROPOMORPHIC ROBOTS; DEGREES OF FREEDOM (MECHANICS); MOTION PLANNING; ROBOTICS;

ACOUSTIC SYSTEMS; COORDINATION SCHEME; HIGH DEGREE OF FREEDOM; HUMANOID ROBOT; MOBILE PLATFORM; MOTION COORDINATION; ROBOTIC SYSTEMS; TASK EXECUTIONS;

ROBOTS;

EID: 33845398249     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/11552246_25     Document Type: Article

References (17)

1. R. David and H. Alla, "Petri Nets for Modeling of Dynamic Systems," Automatica, vol. 30, pp. 175-202, 1994.
2. T. Asfour and R. Dillmann, "Human-like Motion of a Humanoid Robot Arm Based on Closed-Form Solution of the Inverse Kinematics Problem," IEEE/ RSJ International Conference on Intelligent Robots and Systems (IROS 2003), 27-31 October, 2003.
3. T. Asfour, K. Berns and R. Dillmann, "The Humanoid Robot ARMAR: Design and Control," The 1st IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2000), 7-8 September, 2000.
4. R. A. Brooks, "A Robust Layered Control System for a Mobile Robot," IEEE Journal on Robotics and Automation, vol. RA-2, pp. 14-23, 1986.
5. C. Cassandras and S. Lafortune, Introduction to Discrete Event Systems, Kluwer Academic Publ. 1999.
6. P. Hsu, "Control of Multi-Manipulator Systems: Trajectory Tracking, Load Distribution, Internal Force Control and Decentralized Architecture," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1234-1239, 1989.
7. S. Arimoto, F. Miyazaki and S. Kawamura, "Cooperative Motion Control of Multiple Arms or Figures," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1407-1412, 1987.
8. O. Khatib, K. Yokoi, K. Chang, D. Ruspini, R. Holmberg and A. Casal, "Vehicle/arm coordination and multiple mobile manipulator decentralized cooperation," Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 96), vol. 2, pp. 546-553. 1996
9. D. Bechler, M. Schlosser and K. Kroschel. "Acoustic 3D Speaker Tracking for Humanoid Robots with a Microphone Array," Proceedings of the 3rd IEEE International Conference on Humanoid Robots (Humanoids 2003), Karlsruhe, Germany.
10. Y-J. Cho, J-M. Park, J. Park, S-R. Oh and C. W. Lee "A Control Architecture to Achieve Manipulation Task Goals for a Humanoid Robot," Proceedings of the IEEE Intern. Conf. on Robotics and Automation, Leuven, Belgium, pp. 206-212, 1998.
11. K. Nickel and R. Stiefelhagen. "Pointing gesture recognition based on 3d-tracking of face, hands and head orientation," International Conference on Multimodal Interfaces, Vancouver, Canada, 2003.
12. G. N. Saridis and K. P. Valvanis, "Analytic Design of Intelligent Machines," Automatica, vol. 24, pp. 123-133, 1988.
13. F. Y. Wang, K. J. Kyriakopoulos, A. Tsolkas and G. N. Saridis, "A Peti Net Coordination Model for an Intelligent Mobile Robot," IEEE Transactions on System, Man and Cybernetics, vol. 21, no. 4, pp. 777-789, 1991.
14. T. J. Tarn, A.K. Bejczy and X. Yun, "Coordinated Control of Two Robot Arms," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1193-1202, 1986.
15. ATI Industrial Automation Homepage: http://www.ati-ia.com/sensors.htm
16. Modular Controller Architecture (MCA2): http://mca2.sourceforge.net/
17. Sick-Homepage: http://www.sick.de/de/products/