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Object Selection using a Spatial Language for Flexible Assembly

Fulltext:


Research group:


Publication Type:

Conference/Workshop Paper

Venue:

14th IEEE International Conference on Emerging Technologies and Factory Automation, 2009. (ETFA 2009)


Abstract

In this paper we present a new simplified natural language that makes use of spatial relations between the objects in scene to navigate an industrial robot for simple pick and place applications. Developing easy to use, intuitive interfaces is crucial to introduce robotic automation to many small medium sized enterprises (SMEs). Due to their continuously changing product lines, reprogramming costs are far higher than installation costs. In order to hide the complexities of robot programming we propose a natural language where the use can control and jog the robot based on reference objects in the scene. We used Gaussian kernels to represent spatial regions, such as left or above. Finally we present some dialogues between the user and robot to demonstrate the usefulness of the proposed system.

Bibtex

@inproceedings{Akan1400,
author = {Batu Akan and Baran {\c{C}}{\"u}r{\"u}kl{\"u} and Giacomo Spampinato and Lars Asplund},
title = {Object Selection using a Spatial Language for Flexible Assembly},
pages = {1--6},
month = {September},
year = {2009},
booktitle = {14th IEEE International Conference on Emerging Technologies and Factory Automation, 2009. (ETFA 2009)},
url = {http://www.es.mdh.se/publications/1400-}
}