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Programming contact tasks using a reality-based virtual environment integrated with vision

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4 Author(s)
Lloyd, J.E. ; Dept. of Mech. Eng., Katholieke Univ., Leuven, Belgium ; Beis, J.S. ; Pai, D.K. ; Lowe, D.G.

We present an integrated system in which an operator uses a simulated environment to program part-mating and contact tasks. Generation of models within this virtual environment is facilitated using a fast, occlusion tolerant, 3D grey-scale vision system which can recognize and accurately locate objects within the work site. A major goal of this work is to make robotic programming easy and intuitive for untrained users working with standard desktop hardware. Simulation offers the ease-of-use benefits of “programming by demonstration”, coupled with the ability to create a programmer-friendly virtual environment. Within a simulated environment, it is also straightforward to track and interpret an operator's actions. The simulator models objects as polyhedra and implements full 3D contact dynamics. When a manipulation task is completed, local planning techniques are used to turn the virtual environment's motion sequence history into a set of robot motion commands capable of realizing the prescribed task

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Robotics and Automation, IEEE Transactions on  (Volume:15 ,  Issue: 3 )