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Published in:
2011 | OriginalPaper | Chapter
Framework for Use of Generalized Force and Torque Data in Transitional Levels of Autonomy
Authors : Kyle Schroeder, Mitch Pryor
Published in: Intelligent Robotics and Applications
Publisher: Springer Berlin Heidelberg
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Manipulation of hazardous materials requires the use of robotics to limit exposure of human operators to the danger. In order to improve manipulator effectiveness while ensuring reliability and redundancy, layers of control are implemented in increments. Each level of autonomy is established such that should a fault occur, the control system can be operated at a lower level of autonomy. Force and torque data can be used as both a structural element of a level of autonomy and for fault detection. This paper presents a framework for the use of generalized force and torque data for improving manipulator safety, operational effectiveness, and world model augmentation. The framework is applied to a demonstration of the automated door opening.