COMMENT ⊗   VALID 00028 PAGES
C REC  PAGE   DESCRIPTION
C00001 00001
C00004 00002	\|\\M0NONH\M2NGR40\M2FIX40\M3FIX30\M4GRFX35
C00005 00003	\F0\Research Areas, Computer Vision, robotics, geometric modeling
C00006 00004	\F0\Collaborations
C00007 00005	\Robotics at Stanford
C00008 00006	\payoffs
C00009 00007	\F0\ two major systems
C00010 00008	\F0\ research topics manipulation
C00011 00009	\F0\ongoing research vision
C00012 00010	\F0\ mechanical design
C00013 00011	\F0\ dynamics and control 
C00014 00012	\F0\ force control
C00016 00013	\F0\ programming robots
C00017 00014	\F0\AL system for programming robots
C00018 00015	\F0\ simulation and modeling
C00019 00016	\F0\Cartesian force control
C00020 00017	\F0\stanford-jpl hand
C00021 00018	\F0\Force Control
C00022 00019	\Ceducation
C00023 00020	\F1\ people
C00025 00021	\people
C00032 00022	\F0\ACRONYM objectives
C00033 00023	\F1\ robot is 300 lb weakling
C00034 00024	\robot is 300 lb weakling
C00038 00025	\F0\economies
C00050 00026	\improvements
C00051 00027	\,collaborations
C00052 00028	\F0\force control
C00066 ENDMK
C⊗;
\|\\M0NONH;\M2NGR40;\M2FIX40;\M3FIX30;\M4GRFX35;
\F0
\F0\;Research Areas, Computer Vision, robotics, geometric modeling






\CCOMPUTER VISION AND INSPECTION


\CROBOTICS


\CMOBILE ROBOT


\CGEOMETRIC MODELING
\Cgraphics


\CCAD/CAM
\F0\;Collaborations








\CCOMPUTER    SCIENCE
\CARTIFICIAL    INTELLIGENCE


\CMECHANICAL     ENGINEERING

\CAERO   AND   ASTRO


\CELECTRICAL     ENGINEERING

\;Robotics at Stanford


\F0\CROBOTICS AT STANFORD

McCARTHY  1965

LARGE GROUP:  22 PEOPLE
VISITORS 
ALSO LEIFER, CANNON


\CCHARTER
BASIC PROBLEM-ORIENTED RESEARCH
SYSTEM BUILDING 
    EXPERIMENTAL LABORATORY
REGIONAL CENTER OF EXCELLENCE

LEADING ROBOTICS GROUP 
\;payoffs


\F0\CPAYOFFS

STANFORD ARM
  LED TO PUMA, TI ARM

WAVE
  LED TO VAL

STRUCTURED LIGHT

SCHEINMAN WRIST SENSOR

AL

ACRONYM
\F0\; two major systems





\CTWO   MAJOR   SYSTEMS


\CAL
\CPROGRAMMING    ROBOTS


\CACRONYM
GEOMETRIC MODELS
RULE-BASED GEOMETRIC REASONING
for inspection, vision, planning
\F0\; research topics manipulation



\CRESEARCH PROGRAM ROBOTICS



DESIGN 
    STANFORD-JPL COLLABORATION

DYNAMICS AND CONTROL 
    COLLABORATION AERO AND ASTRO

TASK LEVEL FORCE CONTROL

SENSORY TECHNOLOGY

PROGRAMMING LANGUAGE FOR ROBOTS
    AL

NEXT GENERATION 
ROBOT PROGRAMMING LANGUAGE

SIMULATION

COMPUTER-AIDED MECHANICAL DESIGN

TELEMANIPULATORS

HUMAN FACTORS

ARTIFICIAL INTELLIGENCE
    PROBLEM SOLVING
    EXPERT SYSTEMS
\F0\;ongoing research vision



\CRESEARCH PROGRAM; VISION



VISION SYSTEM (ACRONYM)

    GEOMETRIC  REASONING

    INFERRING SURFACES

    AUTOMATED  STEREO  MAPPING

    SEGMENTATION


INTERMEDIATE LEVEL
    INDUSTRIAL VISION SYSTEM

VLSI IMPLEMENTATION
    ALGORITHM  DESIGN

INSPECTION

MOBILE   ROBOT

MULTI-FONT CHARACTER  RECOGNITION
\F0\; mechanical design


\CMECHANICAL DESIGN



\CPAST
HYDRAULIC ARM 1968
STANFORD SCHEINMAN ARM 1970



\CCURRENT
STANFORD-JPL HAND


\CFUTURE
MAJOR COLLABORATION
\F0\; dynamics and control 

\CDYNAMICS AND CONTROL 

    COLLABORATION AERO AND ASTRO

PAST
    NEWTONIAN, SOFTWARE SERVO
    ANALYSIS OF TWO-ARM MOTIONS
    ANALYSIS OF THREE-FINGER HAND



COOPERATING MANIPULATORS
    HAND, TWO ARMS
    CLOSED-LOOP KINEMATIC CHAINS

VISUAL TRACKING

ADAPTING TO LOAD
  adaptive control

FLEXIBLE MANIPULATORS
\F0\; force control



\CTASK LEVEL FORCE CONTROL

\CPAST
FREE JOINTS
SCHEINMAN SENSOR
SENSOR TECHNOLOGY
PAUL AND SHIMANO JOINT SPACE
SALISBURY: PROGRAMMABLE COMPLIANCE

\CCURRENT
KHATIB CARTESIAN FORCE CONTROL
REAL TIME OBSTACLE AVOIDANCE
ANALYSIS
\F0\; programming robots


\CPROGRAMMING ROBOTS


\CPAST

SINGER: POINT TO POINT
PAUL: WAVE
AL 
    DESIGN
    IMPLEMENTATION
    EXPERIMENTATION
    POINTY -- AL INTERPRETER
    SOURCE LANGUAGE DEBUGGER
    RUN-TIME PATH CALCULATOR
\F0\;AL system for programming robots



\CAL SYSTEM
\CPROGRAMMING   ROBOTS


INTERPRETER

SOURCE LANGUAGE DEBUGGER

EXPORT   VERSION

PASCAL RUNTIME SYSTEM

FORCE   CONTROL

SIMULATOR   (ACRONYM)

REAL-TIME COLLISION AVOIDANCE

INFO

FORCE GRAPHICS

MSM
\F0\; simulation and modeling


\CSIMULATION AND MODELING


\CPAST

SPI
SIMULATOR
    STANFORD ARM
    UNIMATE PUMA
    EXECUTION OF TRAJECTORIES

\CCURRENT

CINNCINATI MILACRON T3
PARTS AND WORKSTATION
    FLASHLIGHT ASSEMBLY
    SPRINKLER ASSEMBLY
\F0\;Cartesian force control

\CCARTESIAN-FORCE CONTROL


SINGULARITY-FREE

REDUNDANT MANIPULATORS

DYNAMICS
    GRAVITY CORRECTION
    SOME INERTIA COMPENSATION
    PUMA MODEL NOT WELL-KNOWN

MIXED FORCE AND POSITION CONTROL
    SERVO ERRORS IN CARTESIAN SPACE

\F0\;stanford-jpl hand


\CSTANFORD-JPL HAND



OBJECTIVES
    TORQUE INCREASED BY 100
    UNIVERSAL GRIPPER FOR
        TOOL USING
    FORCE CONTROL SMALL MOTIONS
    REPOSITIONING
DESIGN
    PULL-PULL TENDON
    MINIMIZE NUMBER OF MOTORS
    KINEMATIC OPTIMIZATION
STATUS
    PARTS FABRICATED
    CONTROL ALGORITHM DESIGNED
\F0\;Force Control



\CFORCE CONTROL

\CPAST
PAUL FREE JOINTS
SCHEINMAN SENSOR
SENSOR TECHNOLOGY
PAUL AND SHIMANO JOINT SPACE
ANALYSIS TWO COOPERATING ARMS
SALISBURY: PROGRAMMABLE COMPLIANCE

\CCURRENT
KHATIB CARTESIAN FORCE CONTROL
REAL TIME OBSTACLE AVOIDANCE
ANALYSIS
\Ceducation

SIX PHDS PLUS 3 STAFF
    IN ONE YEAR

CS227 - 100 IN CLASS
    SINCE 1971
    TV NETWORK

MS-CSAI

VISITORS FROM INDUSTRY
    PROGRAM

MANUFACTURING SPECIALIZATION

\F1\; people

\CPEOPLE

   Victor Scheinman - VP of Research, Automatix, Inc.
   Raj Reddy - director, Robotics Institute, CMU
   Jerome Feldman - former chairman, Computer Science,
       Univ of Rochester
   David Grossman - head of Robotics, IBM (one year visit)
   R.F. Sproull - Asst Prof, CMU

   Donald Pieper - VP, chief engineer, Automatix
   Gerald Gleason - chief eng, MIC
   Ram Nevatia - Prof, leader Image Understanding, USC
   Russell Taylor - IBM
   Brian Carlisle - President, Unimation West

   Gerald Agin - Prof, bio-engineering, CMU
   Bruce Shimano - Unimation West
   Richard "Lou" Paul - Prof, Purdue University
   Kenneth Waldron - Prof, Ohio State University
   Warren Seering - Asst Prof, MIT

   Charles Spaulding - engineer, Unimation West
   Bruce Bullock - leader Image Understanding, Hughes 
   J.M.Tenenbaum - Schlumberger
   Bob Bolles - SRI
   Rod Brooks - MIT

   Hans Moravec - Robotics Institute, CMU
   Walton Perkins - GM
   Michael Kelly - Prof, Georgia Tech
   Irwin Sobel - Columbia Univ
   Ruzena Bajcsy - Prof, Univ of Pennsylvania

\;people



\CPEOPLE


   Lynn Quam - Schlumberger
   S. Ganapathy - Assoc Prof, Univ of Michigan
   Marsha Jo Hannah - Lockheed
   Bruce Baumgart - consultant
   C.R.Lui - Prof, Purdue Univ

   Lester Earnest - President, Imagen
   Donald Gennery - JPL
   Barry Soroka - Asst Prof, USC
   R.F. Finkel - Assoc Prof, Univ of Wisconsin
   Anthony Sword - SRI

   Tom Garvey - SRI
   A.Gill - Technion, Israel
   Lung-Wen Tsai - GM Research Labs
   G. Falk - Prof, Rutgers
   Patrick MacVicar-Whelan - Boeing

   Karl Pingle - ESL
   Maria Gini - Electrotecnico, Milan, Italy
   Giusepina Gini - Electrotecnico, Milan, Italy
   R.A.Schmidt, Jr 
   A. Kay - Xerox

   Michael Roderick - Teledyne
   Arthur Thomas - ADAC 
   William Gilbert - Texas Instruments
   Casey Cox - Automatix
   U. Montanari - Italy

   Miyamoto - Japan
   Ishida - Japan
   E.Nakano - MEL, Japan
\F0\;ACRONYM objectives



\CACRONYM

3D

VIEWPOINT-INDEPENDENT

GENERIC OBJECT CLASS
    PASSENGER   AIRCRAFT
    L1011   747   SPECIALIZATIONS

MODELS   OF   AIRCRAFT
    NO   SPECIAL   KNOWLEDGE
        OF   AERIAL   SCENES

RULE-BASED
    GENERAL   RULES
    GEOMETRY   AND  ALGEBRA
\F1\; robot is 300 lb weakling

\F0\CROBOT 300 LB WEAKLING 

  A HUMAN CAN DO MUCH IF BLIND
  MUCH LESS WITH 
    ONLY ONE ARM 
    OTHER TIED BEHIND HIS BACK
    ARTHRITIC AMPUTEE

  MUCH LESS WITH
    ONLY TWO FINGERS
    NO ARTICULATION OF FINGERS
        CHOPSTICKS
    NO TOUCH OR FORCE SENSING
        NOVOCAIN
    TREMOR
    STIFF; LIMITED DEXTERITY 
    WEAK AND SLOW
    OVERWEIGHT

  EASILY INJURED

  DIFFICULT TO TEACH OR TRAIN IF
    STUPID
    NO IDEA OF OBJECTS
    NO IDEA OF TASK INTENDED

\;robot is 300 lb weakling



\F0\CIN SUMMARY
  POOR SENSING
  POOR PERCEPTION TO USE SENSING
  POOR ACTUATORS
  LACK OF INTELLIGENCE

ROBOTS AND COMPUTER VISION ARE 
IMPORTANT NOW IN MANUFACTURING; 

THOSE AREAS ARE IMPORTANT FOR ADVANCES

\F0\;economies


\CECONOMIES
OUTSTANDING STUDENTS
STRONG EXPERIMENTAL LABORATORY
    SHARED RESOURCES AND SUPPORT
    PAY 1/3
COURSE, MS PROJECTS
VISITORS


CRITICAL MASS

OTHER DISCIPLINES

NATIONAL COMMUNITY
    COLLABORATIONS
\;improvements


\F0\CEXPANSION


STUDENT SUPPORT STAFF
  MECHANICAL
  ELECTRICAL
  SOFTWARE

EQUIPMENT
    ROBOTS
    CART
    ASSEMBLY
    COMPUTER
    REAL TIME VISION
    DISPLAYS

SPACE
\,collaborations


\F0\CCollaborations

Institute for Manuf
Mech Eng - Roth - Kinematics
Mech Eng - Roth - Design of arms, hands
Mech Eng - Leifer - sensor technology
Mech Eng - Leifer - software (Vistnes)
Aero & Astro - Cannon - dynamics
  move to Durand
EE - VLSI - student projects
EE - systems - SUN, network
EE - Hennesy - language
Appl Phys - Micro - sensor techn
Ind Eng - Thompson - human factors (Mujtaba)
SRI - Nitzan - research program
local industry

informal


MIT - AI - design, dynamics, vision
Utah - Jacobsen - design
\F0\;force control



\CFORCE CONTROL

THEME:
  PROGRAMMABLE COMPLIANCE IN
    TASK FRAME 

MECHANISM
  SPECIFY COMPLIANCE OR FORCE
    IN TASK COORDINATES
  TRANSFORM INTO JOINT COORDINATES
  CALCULATE JOINT TORQUES

SPECIFY HYBRID FORCE-POSITION CONTROL

FORCE TEACHING
  BILATERAL CONTROLLER - SALISBURY
  POSSIBLE PRODUCT

FORCE PROGRAMMING FROM MODELS
  ACRONYM