Sensor Robotics In The National Bureau Of Standards

James S. Albus; Anthony J. Barbera; M. L. Fitzgerald

doi:10.1117/12.934079

23 May 1983 Sensor Robotics In The National Bureau Of Standards

James S. Albus, Anthony J. Barbera, M. L. Fitzgerald

Proceedings Volume 0360, Robotics and Industrial Inspection; (1983) https://doi.org/10.1117/12.934079
Event: 26th Annual Technical Symposium, 1982, San Diego, United States

Abstract

For robots to operate effectively in the partially unconstrained environment of manufacturing, they must be equipped with control systems that have sensory capabilities. This paper describes a control system that consists of three parallel cross-coupled hierarchies. First is a control hierarchy which decomposes high level tasks into primitive actions. Second is a sensory processing hierarchy that analyses data from the environment. Third is a world model hierarchy which generates expectations. These are compared against the sensory data at each level of the sensory processing hierarchy. Deviations between expected and observed data are used by the the control hierarchy to modify its task decomposition strategies so as to generate sensory-interactive goal-directed behavior. This system has been implemented on a research robot, using a network of microcomputers and a real-time vision system mounted on the robot wrist.

Citation Download Citation

James S. Albus, Anthony J. Barbera, and M. L. Fitzgerald "Sensor Robotics In The National Bureau Of Standards", Proc. SPIE 0360, Robotics and Industrial Inspection, (23 May 1983); https://doi.org/10.1117/12.934079

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