A model-based manipulation system with skill-based execution in unstructured environment

Abstract

This paper describes a model-based robot system. This system was developed to replace and improve upon the conventional robot control scheme of teaching-by-showing and replay. The key concept of this system consists of the combination of manipulation skills with an environment model. The model provides the geometric structure and the physical properties of the objects in the environment. Manipulation skills enable reliable task execution in the presence of unavoidable errors and uncertainties. Disassembly of a valve has been successfully achieved by using this system.<>