A concept of rule-based planning and exaction system for sensor-guided manipulation

Toshio Matsushita; Shigeyuki Sakane; Tapio Heikkilä; Pentti Vähä

doi:10.1109/IROS.1993.583130

A concept of rule-based planning and exaction system for sensor-guided manipulation

Toshio Matsushita, Shigeyuki Sakane, Tapio Heikkilä, Pentti Vähä

Electrotechnical Laboratory

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

2 Citations (Scopus)

Abstract

This paper describes a knowledge-based planning and execution system concept for sensor-guided manipulation. The main purpose of the approach is to offer a flexible and easy prototyping method to build a sensor-guided manipulation system and to integrate multi-sensors. Qualitative knowledge about manipulation is represented in a rule-base system and actual control commands are greater in the functional modules of the manipulator and the sensors by the use of object models and sensor models. The proposed idea was applied to paper roll manipulation. The simulation system implemented was composed of a rule-based action planner, simulators for paper roll manipulator, force and vision sensors and a notice-board. Simulation of the paper roll stacking task showed that the concept is effective and applicable.

Original language	English
Title of host publication	Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)
Publisher	IEEE Institute of Electrical and Electronic Engineers
Pages	414-419
ISBN (Print)	978-0-7803-0823-7
DOIs	https://doi.org/10.1109/IROS.1993.583130
Publication status	Published - 1993
MoE publication type	A4 Article in a conference publication
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems - Yokohama, Japan Duration: 26 Jun 1993 → 30 Jun 1993

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated title	IROS 93
Country/Territory	Japan
City	Yokohama
Period	26/06/93 → 30/06/93

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10.1109/IROS.1993.583130

Cite this

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title = "A concept of rule-based planning and exaction system for sensor-guided manipulation",

abstract = "This paper describes a knowledge-based planning and execution system concept for sensor-guided manipulation. The main purpose of the approach is to offer a flexible and easy prototyping method to build a sensor-guided manipulation system and to integrate multi-sensors. Qualitative knowledge about manipulation is represented in a rule-base system and actual control commands are greater in the functional modules of the manipulator and the sensors by the use of object models and sensor models. The proposed idea was applied to paper roll manipulation. The simulation system implemented was composed of a rule-based action planner, simulators for paper roll manipulator, force and vision sensors and a notice-board. Simulation of the paper roll stacking task showed that the concept is effective and applicable.",

author = "Toshio Matsushita and Shigeyuki Sakane and Tapio Heikkil{\"a} and Pentti V{\"a}h{\"a}",

year = "1993",

doi = "10.1109/IROS.1993.583130",

language = "English",

isbn = "978-0-7803-0823-7",

pages = "414--419",

booktitle = "Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)",

publisher = "IEEE Institute of Electrical and Electronic Engineers",

address = "United States",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 93 ; Conference date: 26-06-1993 Through 30-06-1993",

}

Matsushita, T, Sakane, S, Heikkilä, T & Vähä, P 1993, A concept of rule-based planning and exaction system for sensor-guided manipulation. in Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93). IEEE Institute of Electrical and Electronic Engineers, pp. 414-419, IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, 26/06/93. https://doi.org/10.1109/IROS.1993.583130

A concept of rule-based planning and exaction system for sensor-guided manipulation. / Matsushita, Toshio; Sakane, Shigeyuki; Heikkilä, Tapio et al.
Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93). IEEE Institute of Electrical and Electronic Engineers, 1993. p. 414-419.

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

TY - GEN

T1 - A concept of rule-based planning and exaction system for sensor-guided manipulation

AU - Matsushita, Toshio

AU - Sakane, Shigeyuki

AU - Heikkilä, Tapio

AU - Vähä, Pentti

PY - 1993

Y1 - 1993

N2 - This paper describes a knowledge-based planning and execution system concept for sensor-guided manipulation. The main purpose of the approach is to offer a flexible and easy prototyping method to build a sensor-guided manipulation system and to integrate multi-sensors. Qualitative knowledge about manipulation is represented in a rule-base system and actual control commands are greater in the functional modules of the manipulator and the sensors by the use of object models and sensor models. The proposed idea was applied to paper roll manipulation. The simulation system implemented was composed of a rule-based action planner, simulators for paper roll manipulator, force and vision sensors and a notice-board. Simulation of the paper roll stacking task showed that the concept is effective and applicable.

AB - This paper describes a knowledge-based planning and execution system concept for sensor-guided manipulation. The main purpose of the approach is to offer a flexible and easy prototyping method to build a sensor-guided manipulation system and to integrate multi-sensors. Qualitative knowledge about manipulation is represented in a rule-base system and actual control commands are greater in the functional modules of the manipulator and the sensors by the use of object models and sensor models. The proposed idea was applied to paper roll manipulation. The simulation system implemented was composed of a rule-based action planner, simulators for paper roll manipulator, force and vision sensors and a notice-board. Simulation of the paper roll stacking task showed that the concept is effective and applicable.

U2 - 10.1109/IROS.1993.583130

DO - 10.1109/IROS.1993.583130

M3 - Conference article in proceedings

SN - 978-0-7803-0823-7

SP - 414

EP - 419

BT - Proceedings of 1993 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '93)

PB - IEEE Institute of Electrical and Electronic Engineers

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 26 June 1993 through 30 June 1993

ER -

A concept of rule-based planning and exaction system for sensor-guided manipulation

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