Towards an Assembly Plan from Observation: Task recognition with polyhedral objects
نویسندگان
چکیده
task models instantiated task model I Grasp Recognition recognizing where and how the human operator grasps an Object for achieving the assembly
منابع مشابه
Toward an Assembly Plan from Observation Part I: Task Recognition With Polyhedral Objects
Currently, most robot programming is done either by manual programming or using a teach pendant as part of the “teach-by-showing” method. Both of these methods have been found to have several drawbacks. We are developing a novel method with which to program a robot: the assemblyplan-from-observation (APO) method. The APO method aims to build a system that has the capability of observing a human...
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Currently, most robot programming is done either by manual programming or by the "teach-by-showing" method using a teach pendant. Both of these methods have been found to have several drawbacks. We propose a novel method to program a robot, the assembly-plan-fromobservation (APO) method. The APO method aims to build a system that has the capability of observing a human performing an assembly ta...
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The assembly plan from observation (APO) system observes a human operator perform an assembly task, analyzes the observations, models the task, and generates the programs for the robot to perform the same task. A major component of the APO system is the task recognition module, which models the observed task. The task model in the APO context is defined as a sequence of assembly states of the p...
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We have been developing a novel method to program a robot, an APO (assemblyplan-from-observation) method. A human performs assembly operations in front of the APO system's TV camera. The APO system recognizes such assembly operations and generates an assembly plan to repeat the assembly operations using its robot arm. Since an important purpose of assembly operations is to achieve face contacts...
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