Task frames: Primitives for sensory-motor coordination

Ballard, Dana H.; Hartman, Leo

doi:10.1016/0734-189x(86)90079-4

Cited by 7 publications

(5 citation statements)

References 22 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Task Frames: Our use of task-axes is related to the notion of 6D task frames [2,3,4]. One of the first works to formalize task frames is [4].…”

Section: Related Workmentioning

confidence: 99%

“…The authors of [5] proposed hybrid force-position control, which selects different axes of the constraint frame for either position or force control. Simultaneously, the authors of [2,3] proposed task frames to define robotic manipulation primitives; they noted that the geometric level of task frames can serve as a good middle ground between symbolic actions and the motor control input. Since then, task frames in the form of task spaces have been used extensively in robotics [6].…”

Section: Related Workmentioning

confidence: 99%

See 1 more Smart Citation

Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation

Sharma¹,

Liang²,

Zhao³

et al. 2020

Preprint

View full text Add to dashboard Cite

Manipulation tasks can often be decomposed into multiple subtasks performed in parallel, e.g., sliding an object to a goal pose while maintaining contact with a table. Individual subtasks can be achieved by task-axis controllers defined relative to the objects being manipulated, and a set of object-centric controllers can be combined in an hierarchy. In prior works, such combinations are defined manually or learned from demonstrations. By contrast, we propose using reinforcement learning to dynamically compose hierarchical object-centric controllers for manipulation tasks. Experiments in both simulation and real world show how the proposed approach leads to improved sample efficiency, zero-shot generalization to novel test environments, and simulation-to-reality transfer without fine-tuning.

show abstract

“…Task Frames: Our use of task-axes is related to the notion of 6D task frames [2,3,4]. One of the first works to formalize task frames is [4].…”

Section: Related Workmentioning

confidence: 99%

Section: Related Workmentioning

confidence: 99%

Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation

Sharma¹,

Liang²,

Zhao³

et al. 2020

Preprint

View full text Add to dashboard Cite

show abstract

“…As the motion of the cover is largely constrained by the hinge, it is sufficient for the manipulator just to push on the cover in order to close it. The detailed treatment of the mechanism-oriented manipulation task planning can be found in Maynard et al (1948), Ballard and Hartman (1986), and Liu and Daneshmend (1991b).…”

Section: Qualitative Physics and Geometry Combinedmentioning

confidence: 99%

“…PLACE one trunk on another Ballard and Hartman (1986) described a PICK-and-PLACE task where trunk A is to be placed on the top of trunk B, as shown in Fig. 10.…”

Section: Qualitative Physics and Geometry Combinedmentioning

confidence: 99%

See 1 more Smart Citation

Robot assembly planning using a task grammar augmented with heuristic knowledge

Liu

1996

J Intell Manuf

View full text Add to dashboard Cite

Automated assembly planning in a manufacturing environment requires not only mathematically sound formal methods and algorithmic computations but also heuristic knowledge. Much of this knowledge can be extracted from manual task manipulation strategies, such as the motion classification scheme used in methods-time measurement (MTM) studies. In this paper, we delineate various task-level operations in the context of robotic assembly, and show how these operations can be organized in the form of a task grammar. The proposed task grammar captures the intrinsic principle on how the sequence of robot operations should be ordered and how one high-level operation can be effectively decomposed into low-level operations. In order to control the process of robot task decomposition, we explicitly represent and apply qualitative heuristic knowledge about task constraints and operation applicability. In the paper, we first describe how syntactical knowledge about robot operations can be formulated for assemblyrelated manipulation tasks. Kext, through illustrative examples, we attempt to show how qualitative knowledge can be effectively used in the task decomposition in three distinct ways: heuristic-based operation pattern matching, spatial-feature-based qualitative state envisionment, and canonical transformation of task environments.

show abstract

From image sequences towards conceptual descriptions

Nagel

1988

Image and Vision Computing

139

View full text Add to dashboard Cite

Task frames: Primitives for sensory-motor coordination

Cited by 7 publications

References 22 publications

Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation

Learning to Compose Hierarchical Object-Centric Controllers for Robotic Manipulation

Robot assembly planning using a task grammar augmented with heuristic knowledge

From image sequences towards conceptual descriptions

Contact Info

Product

Resources

About