Vision and force driven sensorimotor primitives for robotic assembly skills

  title={Vision and force driven sensorimotor primitives for robotic assembly skills},
  author={J. Daniel Morrow and Bradley J. Nelson and Pradeep K. Khosla},
Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. We are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor… CONTINUE READING
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