Computer Science – Robotics
Scientific paper
Jan 1991
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1991soar.work..226c&link_type=abstract
In NASA, Lyndon B. Johnson Space Center, Fourth Annual Workshop on Space Operations Applications and Research (SOAR 90) p 226-23
Computer Science
Robotics
Collection, Manipulators, Rangefinding, Robot Arms, Robot Dynamics, Robotics, Rocks, Samples, Space Exploration, Terrain, Autonomy, Modules, Shapes
Scientific paper
An important part of a planetary exploration mission is to collect and analyze surface samples. As part of the Carnegie Mellon University Ambler Project, researchers are investigating techniques for collecting samples using a robot arm and a range sensor. The aim of this work is to make the sample collection operation fully autonomous. Described here are the components of the experimental system, including a perception module that extracts objects of interest from range images and produces models of their shapes, and a manipulation module that enables the system to pick up the objects identified by the perception module. The system was tested on a small testbed using natural terrain.
Choi Taeseung
Delingette H.
Deluise M.
Hébert Martial
Hsin Y.
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