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Integrating Path Planning and Visual Servoing in Manipulation Tasks

Abstract : This paper proposes a novel methodology to integrate both geometric manipulation planning and visual servoing. Geometric manipulation planning is able to handle robots with many degrees of freedom in cluttered environments while visual servoing makes execution of the planned trajectories robust to inaccuracies. The method is illustrated by a demonstration on a real humanoid robot manipulating an object.
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Contributor : Florent Lamiraux <>
Submitted on : Saturday, February 29, 2020 - 9:58:16 AM
Last modification on : Thursday, June 10, 2021 - 3:04:06 AM
Long-term archiving on: : Saturday, May 30, 2020 - 12:20:35 PM


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  • HAL Id : hal-02494731, version 1


Joseph Mirabel, Alexis Nicolin, Florent Lamiraux, Olivier Stasse, Sébastien Boria. Integrating Path Planning and Visual Servoing in Manipulation Tasks. 2020. ⟨hal-02494731⟩



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