| ECVision indexed and annotated bibliography of cognitive computer vision publications This bibliography was created by Hilary Buxton and Benoit Gaillard, University of Sussex, as part of ECVision Specific Action 8-1 The complete text version of this BibTeX file is available here: ECVision_bibliography.bib
E. Cervera and A. P. Delpobil and E. Marta and M. A. Serna
ABSTRACT
This paper presents a new approach to error detection during motion in contact under uncertainty for robotic manufacturing tasks. In this approach, artificial neural networks are used for perception-based learning. The six force and torque signals from the wrist sensor of a robot arm are fed into the network. A self-organizing map is what learns the different contact states in an unsupervised way. The method is intended to work properly in complex real-world maufacturing environments, for which existent approaches based on geometric analytical models may not be feasible, or may be too difficult. It is used for different tasks involving motion or extraction operations in a flexible manufacturing system. Several examples for these cases are presented. |
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