Integrating sensing, task planning, and execution for robotic assembly

This paper deals with enhancing the level of autonomy in a robotic work cell. With that mission in mind, the authors present an integrated framework for the sensing, the planning, and the execution aspects of assembly. In experimental demonstrations of this system on a PUMA762, the authors can now throw objects randomly into the workspace of the robot and the robot then automatically synthesizes a manipulation plan that includes the operations of sensing, grasping, and regrasping. Each operation is invoked only when it is deemed necessary for the successful execution of assembly.

[1]  Rodney A. Brooks,et al.  A robot that walks; emergent behaviors from a carefully evolved network , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[2]  Xiaodong Xia,et al.  SROMA: an adaptive scheduler for robotic assembly systems , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[3]  James A. Hendler,et al.  Readings in Planning , 1994 .

[4]  Avinash C. Kak,et al.  Integrating sensing, task planning and execution , 1994, Proceedings of the 1994 IEEE International Conference on Robotics and Automation.

[5]  Arthur C. Sanderson,et al.  Assembly Sequence Planning , 1990, AI Mag..

[6]  Remo Guidieri.  Res , 1995, RES: Anthropology and Aesthetics.

[7]  Avinash C. Kak,et al.  A dynamic approach to high-precision parts mating , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[8]  David Chapman,et al.  Planning for Conjunctive Goals , 1987, Artif. Intell..

[9]  W. Grimson,et al.  Model-Based Recognition and Localization from Sparse Range or Tactile Data , 1984 .

[10]  Jocelyne Pertin-Troccaz.  On-line automatic robot programming: A case study in grasping , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[11]  Avinash C. Kak,et al.  Automatic learning of assembly tasks using a DataGlove system , 1995, Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots.

[12]  Eugénio C. Oliveira,et al.  Closing The Loop Of Task Planning, Action And Sensing , 1992, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems.

[13]  Arthur C. Sanderson,et al.  A correct and complete algorithm for the generation of mechanical assembly sequences , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[14]  D. Anderson,et al.  Algorithms for minimization without derivatives , 1974 .

[15]  Robert B. Kelley,et al.  Camera Models Based on Data from Two Calibration Planes , 1981 .

[16]  W. Eric L. Grimson,et al.  Handey: A robot system that recognizes, plans, and manipulates , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[17]  M. Hebert,et al.  The Representation, Recognition, and Locating of 3-D Objects , 1986 .

[18]  Avinash C. Kak,et al.  Interactive Learning of a Multiple-Attribute Hash Table Classifier for Fast Object Recognition , 1995, Comput. Vis. Image Underst..

[19]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[20]  Avinash C. Kak,et al.  3-D Object Recognition Using Bipartite Matching Embedded in Discrete Relaxation , 1991, IEEE Trans. Pattern Anal. Mach. Intell..

[21]  Anil K. Jain,et al.  3D object recognition using invariant feature indexing of interpretation tables , 1992, CVGIP Image Underst..

[22]  Damian M. Lyons,et al.  Achieving robustness by casting planning as adaptation of a reactive system , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[23]  Karl G. Kempf,et al.  Opportunistic scheduling for robotic assembly , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[24]  Rodney A. Brooks,et al.  Symbolic Error Analysis and Robot Planning , 1982 .

[25]  Richard Fikes,et al.  STRIPS: A New Approach to the Application of Theorem Proving to Problem Solving , 1971, IJCAI.

[26]  Rodney A. Brooks,et al.  Symbolic Reasoning Among 3-D Models and 2-D Images , 1981, Artif. Intell..

[27]  F. A. Seiler,et al.  Numerical Recipes in C: The Art of Scientific Computing , 1989 .

[28]  Robert E. Shostak,et al.  On the SUP-INF Method for Proving Presburger Formulas , 1977, JACM.

[29]  Rodney A. Brooks,et al.  A Robot that Walks; Emergent Behaviors from a Carefully Evolved Network , 1989, Neural Computation.

[30]  Damian M. Lyons,et al.  Planning for reactive robot behavior , 1992, Proceedings 1992 IEEE International Conference on Robotics and Automation.

[31]  Avinash C. Kak,et al.  Spar: A Planner that Satisfies Operational and Geometric Goals in Uncertain Environments , 1990, AI Mag..

[32]  Arthur C. Sanderson,et al.  A correct and complete algorithm for the generation of mechanical assembly sequences , 1991, IEEE Trans. Robotics Autom..

[33]  Avinash C. Kak,et al.  A robot vision system for recognizing 3D objects in low-order polynomial time , 1989, IEEE Trans. Syst. Man Cybern..