形状变量对象处理的空间图像模型及其在挖掘中的应用

EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications Pub Date : 1990-07-03 DOI:10.1109/IROS.1990.262470

K. Homma, Tatsuya Nakamura, T. Arai, H. Adachi

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引用次数: 9

摘要

提出了一种表达形状可能变化的物体的物理特征的空间图像模型。该模型由表示物体形状的大量粒子和预测物体形状变化的一组生成规则组成。描述了代表气体、液体和土壤的模型。用三维砂土模型描述了基于该模型的规划方法。最后，将该规划方法应用于带六轴力/扭矩传感器的工业机械手的砂土开挖实验。

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Spatial image model for manipulation of shape variable objects and application to excavation

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.<>

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EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications

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