Knowledge-based robotics†

1 May 1988

journal article
research article
Published by Taylor & Francis in International Journal of Production Research

Vol. 26 (5) , 707-734
https://doi.org/10.1080/00207548808947900

Abstract

A major hurdle in the development of intelligent robots is that we still do not possess efficient computational and representational methodologies for emulating knowledge and expectation driven behaviour so basic to human cognition and problem solving. Even if we use techniques such as geometric modelling for representing objects in the robot world, we are still lacking in methods for linking such representations with sensory feedback. In this paper, we have proposed the use of intermediate representations—we call them sensor-tuned representations—for linking CSG based solid modelling with sensory information. We also discuss how sensor-tuned representations are constructed from range data and how object recognition can be done with sensor-tuned representations. Finally, we show results of manipulation experiments produced by the current implementation of the system.

Keywords

This publication has 15 references indexed in Scilit:

CAD-based robotics
Published by Institute of Electrical and Electronics Engineers (IEEE) ,2005
Determination of the identity, position and orientation of the topmost object in a pile
Computer Vision, Graphics, and Image Processing, 1986
A Knowledge-Based Robotic Assembly Cell
IEEE Expert, 1986
Model-based recognition in robot vision
ACM Computing Surveys, 1986
Invariant surface characteristics for 3D object recognition in range images
Computer Vision, Graphics, and Image Processing, 1986
Determination of the identity, position and orientation of the topmost object in a pile: Some further experiments
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1986
Three-dimensional object recognition
ACM Computing Surveys, 1985
A facet model for image data
Computer Graphics and Image Processing, 1981
Representations for Rigid Solids: Theory, Methods, and Systems
ACM Computing Surveys, 1980
The PADL-1.0/2 system for defining and displaying solid objects
ACM SIGGRAPH Computer Graphics, 1978