Title :
Towards an assembly plan from observation. I. Assembly task recognition using face-contact relations (polyhedral objects)
Author :
Ikeuchi, Katsushi ; Suchiro, T.
Author_Institution :
Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The authors propose a novel method to program a robot, the assembly-plan-from-observation (APO) method. 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 which serve as the basic representation of each assembly task are defined. It was 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 was demonstrated
Keywords :
assembling; pattern recognition; planning (artificial intelligence); production engineering computing; robot programming; assembly task recognition; assembly-plan-from-observation; face-contact relations; robot motion commands; robot programming; task planning; Assembly systems; Automatic programming; Education; Educational robots; Face recognition; Humans; Manipulators; Robot programming; Robotic assembly; Robotics and automation;
Conference_Titel :
Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on
Conference_Location :
Nice
Print_ISBN :
0-8186-2720-4
DOI :
10.1109/ROBOT.1992.219935