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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. }
}