Scheduled System Maintenance:
On May 6th, system maintenance will take place from 8:00 AM - 12:00 PM ET (12:00 - 16:00 UTC). During this time, there may be intermittent impact on performance. We apologize for the inconvenience.
By Topic

Towards an assembly plan from observation. I. Assembly task recognition using face-contact relations (polyhedral objects)

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Ikeuchi, K. ; Sch. of Comput. Sci., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Suchiro, T.

The authors propose a novel method to program a robot, the assembly-plan-from-observation (APO) method. The APO method aims to build a system that has the capability of observing a human performing an assembly task, understanding the task based on the observation, and generating the robot program to achieve the same task. Assembly relations which serve as the basic representation of each assembly task are defined. It was verified that such assembly relations can be recovered from the observation of human assembly tasks, and that from such assembly relations, it is possible to generate robot motion commands to repeat the same assembly task. An APO system based on the assembly relations was demonstrated

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992