For mobile robots, the problem of interaction with simple objects in a semi-controlled environment is a rich source of challenging situations. In this paper we present a real experiment dealing with the de-sign of a sequential task and its implications in the active nature of the perceptual process involved. In order to set up this experiment, it is required a non trivial set of functioning sensomotor behaviours. We build on this set to design and test a pallet picking task in which the robot has to locate, approach, obtain the pose and, finally, pick up the target. The only sensorial information available to the robot is its binocular vision system and its internal odometry. To carry out this task we have equipped a RobEx robot with a 1 dof forklift and a 4 dof's binocular head. We present the conceptual and computational models and the results of the initial experiments in a real setup.
|Title of host publication||Proc. of Workshop of Physical Agents|
|Number of pages||8|
|Publication status||Published - 10 Sep 2010|