Integrating Path Planning and Visual Servoing in Manipulation Tasks

Joseph Mirabel (1) , Alexis Nicolin (2, 1) , Florent Lamiraux (1) , Olivier Stasse (1) , Sébastien Boria (3)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
2 Airbus Operation S.A.S.
3 Airbus [France]

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.

Domaines: Robotique [cs.RO]

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