Task Planning And Verification Using Visual Feedback

E. E. Pickett; R. Jha

doi:10.1117/12.946185

17 January 1985 Task Planning And Verification Using Visual Feedback

E. E. Pickett, R. Jha

Proceedings Volume 0521, Intelligent Robots and Computer Vision; (1985) https://doi.org/10.1117/12.946185
Event: 1984 Cambridge Symposium, 1984, Cambridge, United States

Abstract

This paper deals with task-planning where sensing operations play a major role in performing the tasks. These observations must be slifficiently accurate to provide execution-time motion by means of a programmable manipulator. A special sensor arrangement is used to estimate the conveyor's position and orientation in real time. Uncertainties in these estimates are combined with uncertainties in estimates of the position, size and shape of the object to predict a nominal position at which to grasp the object. The plan is checked for feasibility. Additional observations may be required by the planner to reduce the uncertainty if the plan is found to be infeasible. Part of the planning function is to schedule these observations and to specify position and orientation of the manipulator hand to ensure the grasp.

Citation Download Citation

E. E. Pickett and R. Jha "Task Planning And Verification Using Visual Feedback", Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); https://doi.org/10.1117/12.946185

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