Author(s)

M. Haex & L.M. Gambardella

Abstract

Flexible robot manipulation using artificial intelligence M. Haex & L.M. Gambardella Istituto Dalle Molle di Studi suWIntelligenza Artificials ID SI A, Cor so Elvezia 36, 6900 Lugano, CH, Switzerland ABSTRACT This paper proposes some solutions for planning problems in robotics that are applicable to a dynamic environment. We show that manipulation can be planned, in a very fast way, only considering and combining informa- tion extracted from robot sensors. In this way we avoid the problem of maintaining a consistent internal workspace representation. In particular we have investigated and implemented grasping using as sensor information camera views of the workspace. The method proposed in this paper has been implemented in an experimental assembly setup using an industrial arm robot and a vision system. The setup resembles an industrial assembly workplace. INTRODUCTION Most industrial systems are based on a-priori known and well structured de- scription

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