DocumentCode :
294213
Title :
Visual space task specification, planning and control
Author :
Jägersand, Martin ; Nelson, Randal
Author_Institution :
Dept. of Comput. Sci., Rochester Univ., NY, USA
fYear :
1995
fDate :
21-23 Nov 1995
Firstpage :
521
Lastpage :
526
Abstract :
Robot manipulators, some thirty years after their commercial introduction, have found widespread application in structured industrial environments, performing, for instance, repetitive tasks in an assembly line. Successful application in unstructured environments however has proven much harder. Yet there are many such tasks where robots would be useful. We present a promising approach to visual (and more general sensory) robot control, that does not require modeling of robot transfer functions or the use of absolute world coordinate systems, and thus is suitable for use in unstructured environments. Our approach codes actions and tasks in terms of desired general perceptions rather than motor sequences. We argue that our vision space approach is particularly suited for easy teaching/programming of a robot. For instance a task can be taught by supplying an image sequence illustrating it. The resulting robot behavior is robust to changes in the environment, dynamically adjusting the motor control rules in response to environmental variation
Keywords :
active vision; image sequences; industrial manipulators; path planning; robot programming; robot vision; action coding; desired general perceptions; dynamic motor control rule adjustment; environmental variation; image sequence; robot behavior; robot manipulators; robot programming; robot teaching; task coding; unstructured environments; vision space approach; visual robot control; visual space task control; visual space task planning; visual space task specification; Education; Manipulators; Orbital robotics; Robot control; Robot kinematics; Robot programming; Robot sensing systems; Robotic assembly; Service robots; Transfer functions;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Computer Vision, 1995. Proceedings., International Symposium on
Conference_Location :
Coral Gables, FL
Print_ISBN :
0-8186-7190-4
Type :
conf
DOI :
10.1109/ISCV.1995.477054
Filename :
477054
Link To Document :
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