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Planification de saisie pour la manipulation d'objets par un robot autonome

Abstract : The autonomous robot performance in a dynamic environment requires advanced perception, action and decision capabilities. Interaction with the environment plays a key role for a robot and it is well illustrated in object and/or tool manipulation. Interaction with humans or others robots can consist in object exchanges. This thesis deals with object manipulation planning by an autonomous robot in human environments. A software architecture is proposed that is capable to solve such problems at the geometrical level. In general, a manipulation task starts by a grasp operation which quality influences strongly the success of the overall task. We propose a planner based on object inertial properties and an approximate convex decomposition. The whole mobile system taken into account in the planning process. The planner has been completely implemented as an extension of the planning tools developed at LAAS-CNRS. Its results have been tested in simulation and on a robotic platform. Object models may be known a priori or acquired on-line. Experiments have been carried out with a mobile manipulator equipped with a three fingers gripper, a wrist force sensor and a stereo camera system in order to validate the approach.
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Submitted on : Monday, March 5, 2007 - 1:57:12 PM
Last modification on : Friday, January 10, 2020 - 9:08:08 PM
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  • HAL Id : tel-00134780, version 1


Efrain Lopez Damian. Planification de saisie pour la manipulation d'objets par un robot autonome. Automatique / Robotique. INSA de Toulouse, 2006. Français. ⟨tel-00134780⟩



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