2P2-J04 3次元点群形状位置合わせによる視覚フィードバックのタスクレベル障害復帰システムへの統合(ヒューマノイド)

概要

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In this paper, integration of local error recovery by visual-feedback and task-level error recovery system is described. In order to build an integrated robot system which utilizes first-order logic representation at the top-level, implementing error recovery in task-level and motion-level is important. In this paper, we focus on motion-level error recovery. Motion-level error is resolved by visual-feedback and motion planner module. In proposed system, top-level task executive does not know about it. Key features of the system are: (1) local error recovery by portable visual-feedback. (2) to utilize symbol to indicate goals of motion controller rather than to use literal pose representation and background updating of the properties of symbols (3) object tracking based-on color-range sensor using particle filter method.
一般社団法人日本機械学会の論文
2011-05-26