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ABSTRACT: The skill of robotic task has been studied in many research institutes. We have been researching the skill for the assembly of the consumer products. We has developed the original knowledge representation for robotic assembly task with the position and force control. We proposed the representation method of the skill that a human has and the construction method of a knowledge base for robotic assembly task. In this paper, we analyzed the assembly task with the click action. And, we proposed the knowledge representation that checked the differential value of the sensor. As a result, the representation of the assembly task with the click action became possible. In addition, we programmed the proposed representation and confirmed the assembly work in an actual robot with the click action. Then, the effectiveness of the representation was confirmed.
Power Electronics, Electrical Drives, Automation and Motion, 2008. SPEEDAM 2008. International Symposium on; 07/2008
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ABSTRACT: We have developed the method of a robot programming by using frame like knowledge base in order to compose the multi-modal human-robot interface. The concept of object oriented programming, the case grammar, and the Conceptual Dependency theory (CD theory) is introduced into this knowledge base in order that the total system can be easily and naturally composed. In this system, a robot can interact with humans in the voice and the finger pointing. Furthermore, termination condition of a robot task can be easily realized by using CD theory, and the robustness of robot tasks is improved. We carried out the work experiment by using actual humanoid robot and the effectiveness was confirmed.
Computer and Information Technology, 2007. CIT 2007. 7th IEEE International Conference on; 11/2007
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ABSTRACT: This paper describes a knowledge representation and programming method for a robotic assembly task. The methodology is explained using a robotic assembly task involving position and force controls. The action sequence is defined based on a control hierarchy which consists of four levels (Control primitive level, Control skill level, Skill level, and Task level). A complicated assembly task can be represented by the product and concatenation of control primitives in the lower levels, and various tasks can be defined by adding new control primitives. The parts to be assembled are represented by the built-up structure that we propose. In this paper, the concept of a CRS (Constraint Reduction System) is introduced for creating a robot task program. The CRS is realized through the use of an extended "prolog" programming language. All the actions and primitives are considered processes and can be uniformly described by the reduction rule of the CRS.
Computer and Information Technology, 2007. CIT 2007. 7th IEEE International Conference on; 11/2007
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ABSTRACT: We have developed human-robot interface by using frame like knowledge base. The concept of object oriented programming, the case grammar, and the conceptual dependency theory (CD theory) is introduced into this knowledge base in order that the total system can be easily and naturally composed. In this system, a robot can interact with humans in the voice and the finger pointing. Furthermore, termination condition of a robot task can be easily realized by using CD theory, and the robustness of robot tasks is improved. We carried out the work experiment by using actual humanoid robot and the effectiveness was confirmed.
Automation Science and Engineering, 2007. CASE 2007. IEEE International Conference on; 10/2007
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ABSTRACT: In this paper, the generation method of the task program of the humanoid robot interacting with humans in the voice and the behavior of humans such as finger pointing, is described. The concept of object oriented programming, the case grammar, and the conceptual dependency theory (CD theory) is introduced into the knowledge base of this system in order that the total system can be easily and naturally composed. In this system, the problem on the homonym is easily solved and a robot can understand that the meaning is same even if we talk to a robot with different words or sentences. Furthermore, termination condition of a robot task can be easily realized, and the robustness of robot tasks is improved. By using this system architecture, it becomes easy to generate the task programs of humanoid robot which interacts with humans. The effectiveness was confirmed by realizing actually this system using humanoid robot and carrying out the work experiment.
Industrial Technology, 2006. ICIT 2006. IEEE International Conference on; 01/2007
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ABSTRACT: Themanagement of design information is been becoming more and more important, and considerable research is being carried out on the representation of design information of assembly parts. This paper describes the representation of an assembly structure, which includes the introduction of a functional element. By using this functional element, constraint of the assembly structure can be naturally described. The functional element is used to express relations among the parts, and a relation can describe constraints among assembly parts which interfere without touching. The relation includes an assembly method and is capable of describing both constraint and interference. We demonstrate that our representation of the assembly structure reduces the search space of the assembly sequence.
Computer and Information Technology, 2006. CIT '06. The Sixth IEEE International Conference on; 10/2006
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ABSTRACT: Presents a knowledge representation and programming method for
robotic assembly tasks. The methodology is explained through robotic
assembly tasks with position and force control. The state space of
assembly objects is abstractly defined using a qualitative landmark
which consists of the state of an object and a robot. The current state
and sensor input determines the next robot action, and the state of a
robot is made to lead to the goal state. These concepts are formulated
by using a finite state automaton. The action sequence is defined based
on the control hierarchy structure which consists of four levels
(control primitive level, control skill level, skill level and task
level). The complicated assembly task can be represented by product and
concatenation of control primitives in a lower level and various tasks
can be defined by adding new control primitives. In the paper, the
concept of a CRS (constraint reduction system) is introduced for making
a robot task program. The CRS is realized by extended Prolog. All the
action and primitives are considered as a process and can be uniformly
described by the reduction rule of the CRS
Assembly and Task Planning, 1999. (ISATP '99) Proceedings of the 1999 IEEE International Symposium on; 02/1999
