An example pick
& place task
The following film gives an idea of the type of task we
want JANUS to be able to perform.
There is also a film of a similar task performed by the "real manipulators".
Excuse the fact that everything is (still) relativly simple:
we are working on the hardware side, and
are just as keen as the sceptics among you to see whether a real film
will be as successful! Watch this space for our results!
In order to carry out this example of pick & place, JANUS
received the
following task description:
- pick blue block with right hand
- exchange block from one hand to the other
- place block in left hand on front red
square
- pick green block with right hand
- exchange block from one hand to the other
- place block in left hand on back red
square
- pick yellow block with right hand
- exchange block from one hand to the other
- place block in left hand on back red
square
- pick blue block with left hand
- place block in left hand on back red
square
All other things including tasks such as
- How to grab a block (grab planning)
- Where to move the the arm (path planning)
- How to move the arm (driver programs,idk)
- How to prevent obstacle collisions (collision avoidence)
- How to place the obstacles (reverse of pick planning)
- and (unfortunately) surprisingly many more
are carried out automatically and autonomously by the controller. This
includes (here not visible) processes for learning of driver
programs and path planning information.
The head of JANUS is only a pointing device to indicate the
area of current most complex subtasks. The actual vision system is
located araound the cell.
Play
it again Sam
(pick & place task)
There is also a film of a similar task performed by the "real manipulators"