DocumentCode
3482716
Title
Spatial image model for manipulation of shape variable objects and application to excavation
Author
Homma, Keiko ; Nakamura, Tatsuya ; Arai, Tatsuo ; Adachi, Hironori
Author_Institution
Mech. Eng. Lab., Ibaraki, Japan
fYear
1990
fDate
3-6 Jul 1990
Firstpage
645
Abstract
Proposes a spatial image model which expresses the physical characteristics of an object whose shape may vary. This model consists of a mass of particles to represent the shape of the object and a set of production rules to predict the change of the object´s shape. Models to represent gas, liquid and soil are described. A three-dimensional model for sand is used to describe the planning method based on the model. Finally, this planning method is applied to an experimental excavation of sand using an industrial manipulator with a six-axis force/torque sensor
Keywords
computer vision; computerised pattern recognition; industrial robots; planning (artificial intelligence); 3D model; computer vision; industrial manipulator; pattern recognition; planning method; robots; shape recognition; shape variable objects; spatial image model; Equations; Fixtures; Force sensors; Mass production; Particle production; Predictive models; Robot sensing systems; Shape; Soil; Torque;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', Proceedings. IROS '90. IEEE International Workshop on
Conference_Location
Ibaraki
Type
conf
DOI
10.1109/IROS.1990.262470
Filename
262470
Link To Document