Robot operation based on a model updated by sensory data

Abstract

Presents a robot manipulation system based on an environment model, in which the model is automatically adjusted to match the real world by means of sensory data. The sensor system has a hierarchical structure of two layers; a vision system which acquires the global workspace configuration, and a force-sensing system which measures precise position by contact detection using force-sensing. Combining these two sensors allows accurate position detection covering a wide range. The processes of measuring the real world, updating the environment model and resuming task operation are executed automatically during the running of job.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>