利用面-接触关系识别装配任务

Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition Pub Date : 1992-06-15 DOI:10.1109/CVPR.1992.223212

K. Ikeuchi, T. Suehiro

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引用次数: 2

摘要

提出了一种新的机器人编程方法——装配计划-观察法(APO)。APO方法旨在建立一个系统，该系统具有观察人类执行装配任务的能力，并根据观察了解任务，并生成机器人程序来完成相同的任务。定义了作为每个组装任务的基本表示形式的组装关系。验证了这种装配关系可以从人类装配任务的观察中恢复，并且可以从这种装配关系中生成机器人运动命令来重复相同的装配任务。提出了一种基于装配关系的APO系统。

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Recognizing assembly tasks using face-contact relations

A novel method for programming a robot, called the assembly-plan-from-observation (APO) method, is proposed. The APO method aims to build a system that has the capability of observing a human performing an assembly task, understanding the task based on the observation, and generating the robot program to achieve the same task. Assembly relations that serve as the basic representation of each assembly task are defined. It is verified that such assembly relations can be recovered from the observation of human assembly tasks, and that from such assembly relations it is possible to generate robot motion commands to repeat the same assembly task. An APO system based on the assembly relations is demonstrated.<>

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Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition

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