A system for autonomous execution of hand-eye tasks-an approach to cooperative hand-eye programming and active visions sensing

Describes an integrated system for autonomous execution of hand-eye task which is a part of the results of research in Electrotechnical Laboratory under the Japanese national project `Advanced Robot Technology´. Two elementary sub-systems to build a hand-eye system have been developed. One is a programming system with knowledge-based description of hand-eye cooperative task, and the other is a planning system for active vision sensing. Valve disassembly and visual inspection tasks were performed as a demonstration