Title :
Sensorimotor primitives for robotic assembly skills
Author :
Morrow, J. Daniel ; Khosla, Pradeep K.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
Many researchers are interested in developing robust, skill-achieving robot programs. The authors propose the development of a sensorimotor primitive layer which bridges the gap between the robot/sensor system and a class of tasks by providing useful encapsulations of sensing and action. Skills can then be constructed from this library of sensor-driven primitives. This reflects a move away from the separation of sensing and action in robot programming of task strategies towards the integration of sensing and action in a domain-general way for broad classes of tasks. For the domain of rigid-body assembly, the authors exploit the motion constraints which define assembly to develop force sensor-driven primitives. The authors report on the experimental results of a D-connector insertion skill implemented using several force-driven primitives
Keywords :
assembling; industrial manipulators; manipulators; robot programming; D-connector insertion skill; force sensor-driven primitives; motion constraints; rigid-body assembly; robot programming; robotic assembly skills; robust skill-achieving robot programs; sensorimotor primitives; task strategies; Bridges; Encapsulation; Fixtures; Force sensors; Orbital robotics; Robot programming; Robot sensing systems; Robotic assembly; Robustness; Sensor systems;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.526022