Spatial image model for manipulation of shape variable objects and application to excavation

Keiko Homma; Tatsuya Nakamura; Tatsuo Arai; Hironori Adachi

doi:10.1109/IROS.1990.262470

Spatial image model for manipulation of shape variable objects and application to excavation

Keiko Homma, Tatsuya Nakamura, Tatsuo Arai, Hironori Adachi

National Institute of Advanced Industrial Science and Technology

科研成果: 期刊稿件 › 会议文章 › 同行评审

3 引用（Scopus）

摘要

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.

源语言	英语
文章编号	262470
页（从-至）	645-650
页数	6
期刊	IEEE International Conference on Intelligent Robots and Systems
卷	1990-July
DOI	https://doi.org/10.1109/IROS.1990.262470
出版状态	已出版 - 1990
已对外发布	是
活动	1990 IEEE International Workshop on Intelligent Robots and Systems, IROS 1990 - Tsuchiura, Ibaraki, 日本期限: 3 7月 1990 → 6 7月 1990

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10.1109/IROS.1990.262470

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Homma, K., Nakamura, T., Arai, T., & Adachi, H. (1990). Spatial image model for manipulation of shape variable objects and application to excavation. IEEE International Conference on Intelligent Robots and Systems, 1990-July, 645-650. 文章 262470. https://doi.org/10.1109/IROS.1990.262470

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abstract = "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.",

author = "Keiko Homma and Tatsuya Nakamura and Tatsuo Arai and Hironori Adachi",

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AU - Nakamura, Tatsuya

AU - Arai, Tatsuo

AU - Adachi, Hironori

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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.

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M3 - Conference article

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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 -

Spatial image model for manipulation of shape variable objects and application to excavation

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