Gesture-Based Programming for Robotics: Human-Augmented Software Adaptation
IEEE Intelligent Systems
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Integrating sensors into robot systems is an important step towards increasing the flexibility of robotic manufacturing systems. Current sensor integration is largely task-specific which hinders flexibility. The authors are developing a sensorimotor command layer that encapsulates useful combinations of sensing and action which can be applied to many tasks within a domain. The sensorimotor commands provide a higher-level in which to terminate task strategy plans, which eases the development of sensor-driven robot programs. This paper reports on the development of both force and vision driven commands which are successfully applied to two different connector insertion experiments.