Closed-loop pallet manipulation in unstructured environments

  title={Closed-loop pallet manipulation in unstructured environments},
  author={Matthew R. Walter and Sertac Karaman and Emilio Frazzoli and Seth J. Teller},
  journal={2010 IEEE/RSJ International Conference on Intelligent Robots and Systems},
This paper addresses the problem of autonomous manipulation of a priori unknown palletized cargo with a robotic lift truck (forklift). Specifically, we describe coupled perception and control algorithms that enable the vehicle to engage and place loaded pallets relative to locations on the ground or truck beds. Having little prior knowledge of the objects with which the vehicle is to interact, we present an estimation framework that utilizes a series of classifiers to infer the objects… CONTINUE READING


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Visualization of pallets

  • R. Bostelman, T. Hong, T. Chang
  • Proc. SPIE Optics East Conf., Oct. 2006.
  • 2006
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