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Planning for assembly from solid models

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： Y. Liu R.J. Popplestone Laboratory for Perceptual Robotics Department of Computer and Information Science University of Massachusetts Amherst USA

ISBN: (纸本)0818619384

The authors describe how to use geometric boundary models of assembly components to find mating features, thereby permitting simpler task specifications to be used. To mitigate the combinatorics of searching for a feasible correspondence between features of different bodies, boundary models produced by PADL2 (the geometric modeler) are matched against a library of standard compound features. The feasibility of mating compound features is analyzed using the symmetry groups of features.< >

关键词： Solid modeling Robotic assembly Laboratories Libraries information science Combinatorial mathematics Geometry Topology Assembly systems Intrusion detection

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Timix: a distributed real-time kernel for multi-sensor robots

Timix: a distributed real-time kernel for multi-sensor robot...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： I. Lee R. King General Robotics and Active Sensory Perception Laboratory Department of Computer and Information Science University of Pennsylvania PA USA

Timix is a distributed real-time kernel that is being developed to support multisensor robot systems. The overall structure of the kernel is described, including a hierarchy of interprocess communication primitives and a generic way to interact with external devices. A simple multisensor robot that is being implemented using Timix is also presented. Three salient aspects of Timix are as follows. First, it is possible to estimate the amount of time that a real-time process takes to execute since the execution times of system calls are bounded. Second, an hierarchy of communication methods, which differ in synchronization, time and space overheads, and bandwidth requirements, are provided to allow the programmer to choose the one most applicable to a particular application, depending on the real-time requirements. Finally, new devices, which ar directly controlled by application processes, can be integrated into the system without changing the kernel.< >

关键词： Kernel Timing Robot sensing systems Real time systems Manipulators Programming profession Control systems Laboratories Distributed computing information science

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A Real-Time Kernel for Distributed Multi-Robot Systems

A Real-Time Kernel for Distributed Multi-Robot Systems

引用

American Control Conference (ACC)

作者： Insup Lee Robert King Xiaoping Yun General Robotics and Active Sensory Perception Laboratory Department of Computer and Information Science University of Pennsylvania Philadelphia PA USA

A distributed real-time kernel is being developed to support multi-robot systems. Our research is motivated by the difficulties encountered when implementing time dependent distributed application programs such as distributed multi-robot control systems using existing operating systems. These difficulties arise because most systems are designed to provide good average performance, making it impossible to implement programs whose correctness depends on exact timing. Our distributed kernel provides a set of primitives that can used to implement applications requiring predictable timing behaviors. This paper discusses the design and implementation of a distributed real-time kernel. The kernel provides a hierarchy of interprocess communication primitives with increasing overheads and a generic way to interact with external devices. A distributed multi-robot control system being developed to evaluate our kernel is also described.

关键词： Real time systems Kernel Multirobot systems Timing Robot sensing systems Control systems Robot kinematics Operating systems Communication system control Force sensors

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Convected activation profiles and the measurement of visual motion

Convected activation profiles and the measurement of visual ...

引用

Conference on computer vision and Pattern Recognition (CVPR)

作者： A.M. Waxman J. Wu F. Bergholm Laboratory for Sensory Robotics College of Engineering Boston University Boston MA USA Computer Vision and Graphics Laboratory Department of Numerical Analysis and Computing Science Royal Institute of Technology Stockholm Sweden

A method is developed for the measurement of short-range visual motion in image sequences, making use of the motion of image features such as edges and points. Each feature generates a Gaussian activation profile in a spatiotemporal neighborhood of specified scale around the feature itself; this profile is then convected with motion of the feature. The authors show that image velocity estimates can be obtained from such dynamic activation profiles using a modification of familiar gradient techniques. The resulting estimators can be formulated in terms of simple ratios of spatiotemporal filters (i.e. receptive fields) convolved with image feature maps. A family of activation profiles of varying scale must be utilized to cover a range of possible image velocities. They suggest a characteristic speed normalization of the estimate obtained from each filter in order to decide which estimate is to be accepted. They formulate the velocity estimators for dynamic edges in 1-D and 2-D image sequences, as well as that for dynamic feature points in 2-D image sequences.< >

关键词： Motion measurement Image sequences Motion analysis Filters Laboratories computer vision Robot sensing systems Educational institutions computer graphics Numerical analysis

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The nature of human prehension: Three dextrous hands in one

The nature of human prehension: Three dextrous hands in one

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： T. Iberall Laboratory for Perceptual Robotics Department of computer and information Science University of Massachusetts Amherst MA

The human hand is versatile in its interactions with the environment, demonstrating skills that designers of dextrous robot hands would like to emulate. From the many attempts that have been made to understand the use of the human hand and to establish classifications of prehensile activity, common themes emerge. Two key issues seem to be balanced in prehensile tasks: that of affixing the object in the hand, and that of gathering information about the state of the object during the task. In this paper, we show these being balanced through combinations of three basic methods of applying oppositions around obiects, and we show how these relate to the postures of standard prehensile classifications.

关键词： Humans Fingers Taxonomy Stability Zinc Logic Equations Grasping

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Problem decomposition for assembly planning

Problem decomposition for assembly planning

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Vijaykumar M. Arbib Department of Computer and Information Science Laboratory for Perceptual Robotics University of Massachusetts Amherst MA Department of Computer Science University of Southern California Los Angeles CA

Automatic planning of an assembly task suitable for execution by a robot system requires analysis of constraints arising from task and object geometry as well as constraints arising from the specific configuration of the robot system. This paper describes our current efforts toward building a high-level planner that plans robot assembly tasks while confining its attention to constraints arising from task and object characteristics. The robot itself is modelled in terms of its basic capabilities such as, grasp, free motion and certain fine-motion commands. The planner works from a specification of the assembly operations, the objects involved in the operations, and an incomplete geometric model of the objects. The assembly planning problem is viewed as comprising of the determination of positions and orientations of component objects relative to each other and the determination of the robot motion primitives required to achieve these relations. The paper discusses how we decompose the assembly planning problem to reflect this view, the intermediate representations used, and our current implementations by use of an example assembly task.

关键词： Robotic assembly Motion planning robotics and automation Uncertainty Assembly systems Robot motion Robot sensing systems computerized monitoring Laboratories information science

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Motor schema based navigation for a mobile robot: An approach to programming by behavior

Motor schema based navigation for a mobile robot: An approac...

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Arkin VISIONS/Laboratory for Perceptual Robotics Computer and Information Science Department Graduate Research Center University of Massachusetts Amherst MA

Motor schemas are proposed as a basic unit of behavior specification for the navigation of a mobile robot. These are multiple concurrent processes which operate in conjunction with associated perceptual schemas and contribute independently to the overall concerted action of the vehicle. The motivation behind the use of schemas for this domain is drawn from neuroscientific, psychological and robotic sources. A variant of the potential field method is used to produce the appropriate velocity and steering commands for the robot. An implementation strategy based on available tools at UMASS is described. Simulation results show the feasibility of this approach.

关键词： Navigation Mobile robots Robot programming Robot sensing systems Control systems Cognitive robotics Vehicles Brain modeling Psychology Laboratories

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Tactile Recognition by Probing: Identifying a Polygon on a Plane 5

Tactile Recognition by Probing: Identifying a Polygon on a P...

引用

5th National Conference on Artificial Intelligence, AAAI 1986

作者： Ellis, R.E. Riseman, Edward M. Hanson, Allen R. Laboratory for Perceptual Robotics Department of Computer and Information Science University of Massachusetts AmherstMA01003 United States

An outstanding problem in model-based recognition of objects by robot systems is how the system should proceed when the acquired data are in8ufRcient to identify uniquely the model instance and model pose that best interpret the object. In this paper, we consider the situation in which some tactile data about the object are already available, but can be ambiguously interpreted. The problem is thus to acquire and process new tactile data in a sequential and eflicient manner, so that the object can be recognised and its location and orientation determined. An object model, in this initial analysis of the problem, is a polygon located on a plane;the case of planar objects present8 8ome interesting problems, and is also an important prelude to recognition of three-dimensional (polyhedral) objects. © 1986 AI Access Foundation. All rights reserved.

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A multiple-scale measure of static tactile texture

A multiple-scale measure of static tactile texture

引用

IEEE International Conference on robotics and Automation (ICRA)

作者： R. Ellis Laboratory for Perceppual Robotics Department of Computer and Information Science University of Massachusetts Amherst MA

A method is proposed for the extraction of features that are useful in the classification of tactile texture. It is shown that accumulation of simple statistics on step edges and local extrema, calculated at multiple scales of resolution, can provide linearly separable features. The scale can be varied continuously, thus facilitating adjustment of the scale parameters to optimise the effectiveness of the method for a given tactile array sensor.

关键词： Tactile sensors Sensor arrays Data mining Sensor phenomena and characterization Psychology Feature extraction Statistics Object recognition Robot sensing systems Electronic learning

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Tagged potential fields: An approach to specification of complex manipulator configurations

Tagged potential fields: An approach to specification of com...

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IEEE International Conference on robotics and Automation (ICRA)

作者： D. Lyons Laboratory for Perceptual Robotics Department of Computer and Information Science Graduate Research Center University of Massachusetts Amherst MA

This paper suggests a solution to the specification problem inherent in writing programs for manipulators with many degrees of freedom. It introduces a mechanism called tagged potential fields, which can be used to economically specify a complex manipulator configuration. Some examples are demonstrated for preshaping a dextrous hand, and some of the possible future applications previewed.

关键词： Kinematics Manipulator dynamics Laboratories Grasping information science Writing Robot programming Fingers Position control Graphics

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