Model-based vision and intelligent task scheduling for autonomous human-type robot arm

被引:10
作者
Ueno, H [1 ]
Saito, Y [1 ]
机构
[1] TOKYO DENKI UNIV,COLL SCI & ENGN,DEPT IND MECH ENGN,HATOYAMA,SAITAMA 35003,JAPAN
关键词
autonomous robot; human-type robot arm; knowledge-based system; intelligent task scheduling; model-based vision;
D O I
10.1016/0921-8890(95)00077-1
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper describes the concepts and methodologies for model-based vision and intelligent task scheduling for an autonomous human-type robot arm system. The vision and task scheduling method is based on Cognitive Psychology, i.e., a human's way of vision and scheduling is applied. The robot arm which characterizes our approach is similar to a human arm in shape, mechanism, and functions, and has local intelligence for manipulations with 178 tactile sensors. The vision system receives stereo images through two CCD cameras and creates a world model as a mental image of the scene. The intelligent task scheduling system sets a task goal according to a user's request and generates a sequence of tasks to achieve the goal based on the world model.
引用
收藏
页码:195 / 206
页数:12
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