Paper Info
Title
Programming Contact Tasks Using A Reality-Based Virtual Environment Integrated With Vision
Abstract
We present an integrated system in which an operator uses a simulated environment to program part-mating and contact tasks, Generation of models within this virtual environment is facilitated using a fast, occlusion-tolerant, three-dimensional (3-D) grey-scale vision system which can recognize and accurately locate objects within the work site. A major goal of this work is to make robotic programming easy and intuitive for untrained users working with standard desktop hardware. Simulation can help accomplish this, offering the ease-of-use benefits of "programming by demonstration," coupled with the ability to create a programmer-friendly virtual environment. Within a simulated environment, it is also straightforward to track and interpret an operator's actions. The simulator models objects as polyhedra and implements full 3-D contact dynamics, making is easy to place and manipulate objects using input from a simple two-dimensional (2-D) mouse. When a manipulation task is completed, local planning techniques are used to turn the virtual environment's motion sequence history into a set of robot motion commands capable of realizing the prescribed task.
Year
DOI
Venue
1999
10.1109/70.768176
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION
Keywords
Field
DocType
contact simulation, model-based vision, robot programming, teaching by demonstration, teleprogramming, virtual reality
Programming by demonstration,Virtual reality,Virtual machine,Machine vision,Computer science,Polyhedron,Control engineering,Human–computer interaction,Operator (computer programming),Artificial intelligence,Local planning,Contact dynamics,Computer vision
Journal
Volume
Issue
ISSN
15
3
1042-296X
Citations 
PageRank 
References 
21
1.53
23
Authors
4
Name
Order
Citations
PageRank
John E. Lloyd126630.52
Jeffrey S. Beis239774.92
Dinesh K. Pai32413210.49
D. G. Lowe4157181413.60