Planning for assembly with robot hands

R. J. Popplestone, R. A. Grupen, Y. Liu, G. A. Dakin, D. N. Oskard, S. Nair

Research output: Contribution to journalConference articlepeer-review


If an autonomous robot system is to make effective use of a dextrous hand for assembly, it must be able to (1) reason about how objects are intended to fit together and design mating trajectories, (2) derive uncertainty constraints which accommodate perturbations from the nominal trajectories, (3) and determine how objects should be grasped to exert the forces expected during execution. This paper discusses a planning system which exploits the knowledge of symmetry incorporated in a group theory based reasoner to arrive at a nominal assembly plan. The plan is then refined by establishing bounds on the permissible uncertainty and required forces. A final stage plans force mediated interaction by incorporating multiple agents which enforce the wrench closure requirements and uncertainty constraints over the space of possible grasps.

Original languageEnglish (US)
Pages (from-to)190-205
Number of pages16
JournalProceedings of SPIE - The International Society for Optical Engineering
StatePublished - Feb 1 1990
EventIntelligent Control and Adaptive Systems 1989 - Philadelphia, United States
Duration: Nov 1 1989Nov 3 1989

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering


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