Sensorimotor Primitives for Robotic Assembly Skills

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. We 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.

• Type: Conference
• Year: 1995
• Where: ICRA
• Authors: J. Daniel Morrow, Pradeep K. Khosla
• Keywords: ICRA 1995, Robotics, Sensorimotor Command Layer, Sensorimotor Commands, Vision Driven Commands