IEEE - Institute of Electrical and Electronics Engineers, Inc. - A new algebraic approach for the description of robotic manipulation tasks

2015 IEEE International Conference on Robotics and Automation (ICRA)

Author(s): Ernesto Pablo Lana ; Bruno Vilhena Adorno ; Carlos Andrey Maia
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 May 2015
Conference Location: Seattle, WA, USA
Conference Date: 26 May 2015
Page(s): 3,083 - 3,088
ISBN (Electronic): 978-1-4799-6923-4
ISBN (DVD): 978-1-4799-6921-0
DOI: 10.1109/ICRA.2015.7139622
Regular:

This paper introduces the Manipulation Task Model (MTM), an algebraic approach to describe manipulation tasks for robotic systems. The model is based on dual quaternion algebra to describe poses,... View More

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