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Proceedings Paper

Exploration Of Unknown Mechanical Assemblies Through Manipulation
Author(s): Vijay R. Kumar; Xiaoping Yun; Ruzena Bajcsy
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Paper Abstract

If robots must function in unstructured environments, they must also possess the ability to acquire information and construct appropriate models of the unknown environment. This paper addresses the automatic generation of kinematic models of unknown objects with moveable parts in the environment. If the relative motion between moving parts must be observed and characterized, vision alone cannot suffice. An approach in which manipulation is used with vision for sensing is better suited to the task of determining kinematic properties. In this paper, algorithms for constructing models of unknown mechanical assemblies and characterizing the relative motion are developed. Results of a simulation are described to demonstrate the role of manipulation in such an endeavor.

Paper Details

Date Published: 1 February 1990
PDF: 12 pages
Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); doi: 10.1117/12.969908
Show Author Affiliations
Vijay R. Kumar, University of Pennsylvania (United States)
Xiaoping Yun, University of Pennsylvania (United States)
Ruzena Bajcsy, University of Pennsylvania (United States)

Published in SPIE Proceedings Vol. 1196:
Intelligent Control and Adaptive Systems
Guillermo Rodriguez, Editor(s)

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