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Proceedings Paper

Task Planning And Verification Using Visual Feedback
Author(s): E. E. Pickett; R. Jha
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Paper Abstract

This paper deals with task-planning where sensing operations play a major role in performing the tasks. These observations must be slifficiently accurate to provide execution-time motion by means of a programmable manipulator. A special sensor arrangement is used to estimate the conveyor's position and orientation in real time. Uncertainties in these estimates are combined with uncertainties in estimates of the position, size and shape of the object to predict a nominal position at which to grasp the object. The plan is checked for feasibility. Additional observations may be required by the planner to reduce the uncertainty if the plan is found to be infeasible. Part of the planning function is to schedule these observations and to specify position and orientation of the manipulator hand to ensure the grasp.

Paper Details

Date Published: 17 January 1985
PDF: 7 pages
Proc. SPIE 0521, Intelligent Robots and Computer Vision, (17 January 1985); doi: 10.1117/12.946185
Show Author Affiliations
E. E. Pickett, University of Toronto (Canada)
R. Jha, University of Toronto (Canada)

Published in SPIE Proceedings Vol. 0521:
Intelligent Robots and Computer Vision
David P. Casasent; Ernest L. Hall, Editor(s)

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