Spatial Reasoning for Real-time Robotic Manipulation

  title={Spatial Reasoning for Real-time Robotic Manipulation},
  author={Han-Young Jang and Hadi Moradi and Suyeon Hong and Sukhan Lee and JungHyun Han},
  journal={2006 IEEE/RSJ International Conference on Intelligent Robots and Systems},
Presented in this paper is an approach to real-time spatial reasoning for manipulative robotic tasks. When a service robot is requested to manipulate an object, it should determine the directions along which it can access and remove the object. The potential accessible directions for the object are retrieved from the object database. Then, spatial reasoning with the surrounding environment and the gripper geometry is invoked to verify the directions. The verification process mainly utilizes the… CONTINUE READING
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