Correcting observation errors for assembly task recognition

The completion of robot programs requires long development time and much effort. To shorten the programming time and to minimize the effort, we have been developing a system which we refer to as the "assembly-plan-from-observation (APO) system. " This system requires assembly task recognition from observing human performance. Observation data by a robot's vision system is usually error contaminated, and, thus, we cannot use those data directly. This paper proposes two methods to clean up those errors by using contact relations and their transitions. The first one corrects the observed configuration from contact relations observed. The second one identifies wrongly determined contact relations from an analysis of configuration space (C-space). We have implemented both methods on our test bed and have verified their effectiveness.

Authors

• Jun Takamatsu
• Koichi Ogawara
• Hiroshi Kimura
• Katsushi Ikeuchi

Keywords

• Error correction
• Robotic assembly
• Assembly systems
• Humans
• Service robots
• Robot vision systems
• Machine vision
• Testing
• Orbital robotics
• Metalworking machines
• Observation Error
• Test Bed
• Degrees Of Freedom
• Least-squares
• Taylor Expansion
• Direct Transition
• Simultaneous Equations
• Local Displacement
• Contact Elements
• Correct Configuration
• Configuration Of Objects