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History of Robotics Research and Development of Japan1993Integration, Intelligence, etc.Task Model for Assembly Plan from Observation System

Katsushi IKEUCHICarnegie Mellon University
Takashi SUEHIROElectrotechnical Laboratory
We have been developing a system which observes a human executing an assembly task, recognizes the task, and generates a robot program to achieve the same task. We call the system Assembly Plan from Observation System(APO System). In order to understand purpose of task operation, it is important to model a task execution procedure. This paper defines a task model for assembly of polyhedral objects. The task is analyzed based on face contacts between an object and other objects. The task model is defined as transition between face contact relations and operation which cause the transition. We also demonstrate an APO system based on the task model.

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Katsushi IKEUCHI and Takashi SUEHIRO：Task Model for Assembly Plan from Observation System

Journal of the Robotics Society of Japan，Vol. 11, No. 2, pp.281-290，1993. (in Japanese)

Related papers

[1] Takashi SUEHIRO and Katsushi IKEUCHI, "Fine Localization Based on Face Contact Constraints," Journal of the Robotics Society of Japan，Vol. 11, No. 4, pp. 541-549，1993. (in Japanese)

[2] Jun Miura and Katsushi Ikeuchi, "Task-Oriented Generation of Visual Sensing Strategies," Journal of the Robotics Society of Japan，Vol. 14, No. 4, pp. 574-585 ，1996. (in Japanese)

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