Task Model for Assembly Plan from Observation System

Abstract

We have been developing a system which observes a human executing an assembly task, recognizes the task. and generates a robot program to achieve the same task. We call the system Assembly Plan from Obervation System (APO system). In order to understand purpose of task operation, it is important to model a task execution procedure. This paper defines a task model for assembly of polyhedral objects. The task is analyzed based on face contacts between an object and other objects. The task model is defined as transition between face contact relations and operation which causes the transition. We also demonstrate an APO system based on the task model.