Error-tolerant execution of complex robot tasks based on skill primitives

@inproceedings{Thomas2003ErrortolerantEO,
  title={Error-tolerant execution of complex robot tasks based on skill primitives},
  author={Ulrike Thomas and Bernd Finkemeyer and Torsten Kr{\"o}ger and Friedrich M. Wahl},
  booktitle={ICRA},
  year={2003}
}
This paper presents a general approach to specify and execute complex robot tasks considering uncertain environments. Robot tasks are defined by a precise definition of socalled skill primitive nets, which are based on Mason’s hybrid force/velocity and position control concept, but it is not limited to force/velocity and position control. Two examples are given to illustrate the formally defined skill primitive nets. We evaluated the controller and the trajectory planner by several experiments… CONTINUE READING

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