The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

This report describes a system for obtaining the compliant motion plan for a planar assembly task, given a sequence of observations of a human performing it. The compliant motion plan in configuration space is a series of connected path segments lying on the configuration space obstacle. We use the observed configurations of the assembles objects to selectively compute the features of the c-space obstacle on which the path lies. We project the observed configurations onto these features and reconstruct the path segments. The connected path segments form the model of the observed task and can be used to program a robot to repeat the task. We demonstrate the system using the planar peg in hole task.

Notes

Sponsor: NSF, USAF

Grant ID: IRI-9224521, F33615-90-C-1465, F33615-93-1-1282

Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Number of pages: 19

Text Reference

George Paul and Katsushi Ikeuchi, "Modeling Planar Assembly Paths from Observations," tech. report CMU-RI-TR-96-13, Robotics Institute, Carnegie Mellon University, March, 1996

BibTeX Reference

@techreport{Paul_1996_407,
   author = "George Paul and Katsushi Ikeuchi",
   title = "Modeling Planar Assembly Paths from Observations",
   booktitle = "",
   institution = "Robotics Institute",
   month = "March",
   year = "1996",
   number= "CMU-RI-TR-96-13",
   address= "Pittsburgh, PA",
}

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