TY - JOUR
T1 - Spatial image model for manipulation of shape variable objects and application to excavation
AU - Homma, Keiko
AU - Nakamura, Tatsuya
AU - Arai, Tatsuo
AU - Adachi, Hironori
N1 - Publisher Copyright:
© 1990 Institute of Electrical and Electronics Engineers Inc.. All rights reserved.
PY - 1990
Y1 - 1990
N2 - This paper proposes a spatial image model which expresses the physical characteristics of an object, whose shape may vary. This model consists of a mass of particles to represent the shape of the object, and a set of production rules to predict the change of the object's shape. First, models to represent gas, liquid and soil are described. Second, a three-dimensional model for sand is used to describe the planning method based on the model. Finally, this planning method is applied to an experimental excavation of sand using an industrial manipulator with a six-axis force/torque sensor.
AB - This paper proposes a spatial image model which expresses the physical characteristics of an object, whose shape may vary. This model consists of a mass of particles to represent the shape of the object, and a set of production rules to predict the change of the object's shape. First, models to represent gas, liquid and soil are described. Second, a three-dimensional model for sand is used to describe the planning method based on the model. Finally, this planning method is applied to an experimental excavation of sand using an industrial manipulator with a six-axis force/torque sensor.
UR - http://www.scopus.com/inward/record.url?scp=85080935379&partnerID=8YFLogxK
U2 - 10.1109/IROS.1990.262470
DO - 10.1109/IROS.1990.262470
M3 - Conference article
AN - SCOPUS:85080935379
VL - 1990-July
SP - 645
EP - 650
JO - IEEE International Conference on Intelligent Robots and Systems
JF - IEEE International Conference on Intelligent Robots and Systems
M1 - 262470
T2 - 1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990
Y2 - 3 July 1990 through 6 July 1990
ER -