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Proceedings Paper

Hierarchical Robot Control In A Multisensor Environment
Author(s): Bir Bhanu; Nils Thune; Jih Kun Lee; Mari Thune
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Paper Abstract

Automatic recognition, inspection, manipulation and assembly of objects will be a common denominator in most of tomorrow's highly automated factories. These tasks will be handled by intelligent computer controlled robots with multisensor capabilities which contribute to desired flexibility and adaptability. The control of a robot in such a multisensor environment becomes of crucial importance as the complexity of the problem grows exponentially with the number of sensors, tasks, commands and objects. In this paper we present an approach which uses CAD (Computer-Aided Design) based geometric and functional models of objects together with action oriented neuroschemas to recognize and manipulate objects by a robot in a multisensor environment. The hierarchical robot control system is being implemented on a BBN Butterfly multi processor. Index terms: CAD, Hierarchical Control, Hypothesis Generation and Verification, Parallel Processing, Schemas

Paper Details

Date Published: 27 March 1987
PDF: 9 pages
Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937761
Show Author Affiliations
Bir Bhanu, University of Utah (United States)
Nils Thune, University of Utah (United States)
Jih Kun Lee, University of Utah (United States)
Mari Thune, University of Utah (United States)

Published in SPIE Proceedings Vol. 0726:
Intelligent Robots and Computer Vision V
David P. Casasent, Editor(s)

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