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Virtual Tools: A Framework for Simplifying Sensory-Motor Control in Complex Robotic Systems
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@TechReport{Nelson:TR95,
  author = 	 {Randal C. Nelson and Martin Jagersand and Olac Fuentes},
  title = 	 {Virtual Tools: A Framework for Simplifying Sensory-Motor Control in Complex Robotic Systems},
  institution =  {Comp. Sci. Dept. University of Rochester},
  year = 	 {1995},
  OPTnumber = 	 {576},
  OPTaddress = 	 {Rochester NY},
  OPTmonth = 	 {March},
  abstract =     {
We describe and demonstrate a construct termed a ``virtual tool'' that provides 
a flexible interface to sensory-motor control. This interface is, from a user 
standpoint, substantially less complex and more application-oriented than the 
raw devices. The basic idea is to use extra degrees of freedom present in a 
flexible system, in conjunction with sophisticated sensing (e.g. vision), to 
dynamically configure or ``tailor'' a manipulator so that it is matched to a 
particular situation and operation. This ``virtual tool'' is created by 
imposing customized, sensory modulated constraints between various degrees of 
freedom in the system. The remaining degrees of freedom constitute a small set 
of control parameters that are fitted to a particular operation. We argue that,
 within the confines of fairly broad application domains, a small set of ``tool 
classes'' can be defined that will serve as a general purpose sensory-motor 
toolbox for a wide variety of applications. We further argue that such class 
definitions can be made portable not only across tasks, but across platforms 
as well. The implementation of a number of basic tool classes, on various 
platforms, using vision and other sensory modalities, is described, and their 
use in performing multi-stage sensory-modulated manipulation tasks is 
illustrated.    }
}