a qualitative-connectionist approach to Robotic Spatial Planning: the Peg-in-Hole case study
Spatial Cognition and Computation
Geometric reasoning for fine motion planning
ISATP '95 Proceedings of the 1995 IEEE International Symposium on Assembly and Task Planning
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A novel approach based on the use of force sensors for motion in contact with uncertainty in task planning is presented. A neural network monitors the force signals measured by a sensor mounted in the robot wrist. This network is able to learn without need of a teacher the different contact states of the system. The method is intended to work properly in complex real-world situations, for which a geometric analytical model may not be feasible, or too difficult. In this paper the authors study the two-dimensional peg-in-hole problem and a real example of a complex insertion task in a flexible manufacturing system.