Cooperative task knowledge-base for hand-eye system.

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概要

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• It is not easy to make a program that will cope with a variety of situations fully utilizing hands and eyes. One solution to this problem is the use of a knownledge base dealing with utilization techniques for hands and eyes.<BR>For this reason, task models constructed from viewpoints of the coordination of hands and eyes are essential in addition to conventional models of handling or vision function.<BR>This paper proposes a"Hand-Eye Cooperation Task Model" and a unified knownledge base termed the "Cooperative Task Knownledge Base" based on this task model.<BR>The effects of the cooperative task knowledge base are as follows. (1) The automatic, unified management of a world model in accordance with hand and eye actions, (2) The automatic use of effective vision functions for handling tasks, and (3) The automatic use of hand movements that are visually effective.<BR>The proposed knowledge base can be applicable to general utilization, because it covers the elementary functions for hand-eye tasks. The experiment of a valve disassembly task is performed with this knowledge base.

• 一般社団法人 日本ロボット学会の論文

著者

• 平井 成興

  電子技術総合研究所制御部情報制御研究室

関連論文

• Cooperative task knowledge-base for hand-eye system.

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