On the potential of physics-based animation for task programming in virtual reality

Physics-based animation is becoming an essential feature for any advanced simulation software. In this paper we explore potential benefits of physics-based modeling for task programming in virtual reality. Firstly, we show how realistic animation of manipulation tasks can be exploited for learning sequential constraints from user demonstrations. In particular, we propose a method where information about physical interaction is used to discover task precedences and to reason about task similarities at the goal level. A second contribution of the paper is the application of physics-based modeling to the problem of disassembly sequence planning. Experiments have been performed in a desktop virtual reality environment with dataglove and motion tracker.

[1]  Ke Chen,et al.  Systematic generation of assembly precedence graphs , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[2]  Christoph W. Borst,et al.  Realistic virtual grasping , 2005, IEEE Proceedings. VR 2005. Virtual Reality, 2005..

[3]  Michael F. Zaeh,et al.  Haptic Interaction with a Glove Interface in a Physics Based Virtual Environment , 2004 .

[4]  Tomoichi Takahashi,et al.  Robotic assembly operation teaching in a virtual environment , 1994, IEEE Trans. Robotics Autom..

[5]  Pradeep K. Khosla,et al.  Finding all stable orientations of assemblies with friction , 1996, IEEE Trans. Robotics Autom..

[6]  Yang Luo,et al.  Realistic virtual hand modeling with applications for virtual grasping , 2004, VRCAI '04.

[7]  Willem F. Bronsvoort,et al.  A semi-automatic assembly sequence planner , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[8]  Nancy M. Amato,et al.  Disassembly sequencing using a motion planning approach , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[9]  Yong Wang,et al.  VADE: A Virtual Assembly Design Environment , 1999, IEEE Computer Graphics and Applications.

[10]  Sukhan Lee Subassembly identification and evaluation for assembly planning , 1994, IEEE Trans. Syst. Man Cybern..

[11]  S. Lee,et al.  Subassembly stability and reorientation , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[12]  Rüdiger Dillmann,et al.  Learning sequential constraints of tasks from user demonstrations , 2005, 5th IEEE-RAS International Conference on Humanoid Robots, 2005..

[13]  Friedrich M. Wahl,et al.  Stability analysis of assemblies considering friction , 1997, IEEE Trans. Robotics Autom..

[14]  Devin J. Balkcom,et al.  Computation reuse for rigid-body dynamics , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[15]  Rüdiger Dillmann,et al.  Towards Cognitive Robots: Building Hierarchical Task Representations of Manipulations from Human Demonstration , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[16]  Jinxiang Dong,et al.  A hierarchical approach to disassembly sequence planning for mechanical product , 2006 .

[17]  Stefano Caselli,et al.  Robot grasp synthesis from virtual demonstration and topology-preserving environment reconstruction , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Arthur C. Sanderson,et al.  AND/OR graph representation of assembly plans , 1986, IEEE Trans. Robotics Autom..

[19]  M. Bergamasco,et al.  A realistic approach for grasping and moving virtual objects , 1994, Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'94).

[20]  P.K. Khosla,et al.  Subassembly identification and motion generation for assembly: a geometric approach , 1990, 1990 IEEE International Conference on Systems Engineering.

[21]  Michitaka Hirose,et al.  Dexterous object manipulation based on collision response , 2003, IEEE Virtual Reality, 2003. Proceedings..

[22]  N. S. Ong,et al.  Automatic Subassembly Detection from a Product Model for Disassembly Sequence Generation , 1999 .

[23]  Zita Vale,et al.  Analysis of the complexity of precedence graphs for assembly and task planning , 1997, Proceedings of the 1997 IEEE International Symposium on Assembly and Task Planning (ISATP'97) - Towards Flexible and Agile Assembly and Manufacturing -.