Accession Number : ADA297805

Title :   Contact Sensing: A Sequential Decision Approach to Sensing Manipulation Contact Features.

Descriptive Note : Technical rept.,

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

Personal Author(s) : Eberman, Brian S.

PDF Url : ADA297805

Report Date : MAY 1995

Pagination or Media Count : 209

Abstract : This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a graph, to determine the current location of the robot in the task configuration space. Each node represents what the measurements will look like in a small region of configuration space by storing a predictive, statistical, measurement model. This approach assumes that the measurements are statistically block independent conditioned on knowledge of the model, which is a fairly good model of the actual process. Arcs in the graph represent possible transitions between models. Beam Viterbi search is used to match measurement history against possible paths through the model graph in order to estimate the most likely path for the robot. The resulting approach provides a new decision process that can be use as an observer for event driven manipulation programming. The decision procedure is significantly more robust than simple threshold decisions because the measurement history is used to make decisions. The approach can be used to enhance the capabilities of autonomous assembly machines and in quality control applications. (KAR) P. 2

Descriptors :   *MEASUREMENT, *POSITION(LOCATION), *ROBOTS, *SYSTEMS APPROACH, *STATISTICAL ANALYSIS, MATHEMATICAL MODELS, OBSERVERS, DETECTION, DECISION MAKING, THRESHOLD EFFECTS, GRAPHS, TIME SERIES ANALYSIS, REGIONS, SEQUENCES, ESTIMATES, MATHEMATICAL PREDICTION, CONFIGURATIONS, SEARCHING, QUALITY CONTROL, SELF OPERATION, MACHINES, ARTIFICIAL INTELLIGENCE, ASSEMBLY, MANIPULATORS.

Subject Categories : Operations Research
      Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE