Tatsuichiro Nagai

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This paper describes a knowledge representation and programming method for a robotic assembly task. The methodology is explained using a robotic assembly task involving position and force controls. The action sequence is defined based on a control hierarchy which consists of four levels (Control primitive level, Control skill level, Skill level, and Task(More)
Themanagement of design information is been becoming more and more important, and considerable research is being carried out on the representation of design information of assembly parts. This paper describes the representation of an assembly structure, which includes the introduction of a functional element. By using this functional element, constraint of(More)
We have developed human-robot interface by using frame like knowledge base. The concept of object oriented programming, the case grammar, and the conceptual dependency theory (CD theory) is introduced into this knowledge base in order that the total system can be easily and naturally composed. In this system, a robot can interact with humans in the voice(More)
We have developed the method of a robot programming by using frame like knowledge base in order to compose the multi-modal human-robot interface. The concept of object oriented programming, the case grammar, and the Conceptual Dependency theory (CD theory) is introduced into this knowledge base in order that the total system can be easily and naturally(More)
Industrial robots have been recently introduced into the assembly line of consumer products. To assemble a product, goal coordinates must be specified for the robot. Because this task is quite difficult and time-consuming, we propose computing the values of goal coordinates from an object model of target design. In this paper, we define a model capable of(More)
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