Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact

Item

Title: en_US Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact
Creator: en_US Eberman, Brian Scott
Date: 2004-10-20T20:27:47Z
Date Available: 2004-10-20T20:27:47Z
Date Issued: en_US 1995-05-01
Identifier: en_US AITR-1543
uri: http://hdl.handle.net/1721.1/7061
Abstract: en_US This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications.
Extent: 3503392 bytes; 3404763 bytes
Format: application/postscript; application/pdf
Language: en_US
Relation: en_US AITR-1543

Item sets: AI Technical Reports (1964 - 2004)