Currently, the robot programming is done either by manual programming or by the "teach-by-showing" method using a teach pendant or using automatic programming. All these methods have been found to have several drawbacks. We have been developing a novel method to program a robot, the assembly-plan-from-observation (APO) method. The APO system observes a human performing an assembly task, understands it, and generates a robot program to achieve that same assembly task.
The APO project is headed by Katsushi Ikeuchi
Sing Bing Kang 's work dealt with the following topics.
George V Paul 's work deals with the following topics.
The following illustrates the working of the APO system for a planar peg in hole assembly task.
NOTE: The apparent movement of the hole is due to the fact that the coordinates about which I zoomed the pictures was not consistent. Only 9 out of 64 scenes are shown here.
JunMiura worked on developing Task-Oriented Generation of Visual Sensing Strategies in Assembly Tasks.
Santiago Conant is working on the execution module of the APO.
Yunde Jiar is working on the grasping module of the APO.
Hiroshi Kimura is also working on the grasping module of the APO.
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