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Author Ballard, Dana H.
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Second Frame ♦ Task Frame ♦ Single World-based Frame ♦ Grant Wcs-8203920 ♦ Robotics Computation ♦ Certain Action ♦ Task-uorld Transformation ♦ Coordinate Frame ♦ Different Object ♦ World-based Coordinate Frame ♦ Several Advantage ♦ Robot Manipulation ♦ Simple Geometric Transformation ♦ World Frame ♦ Physical Action ♦ National Science Foundation
Description Most robotics computations refer to a single world-based frame of reference; however, several advantages accrue with the introduction of a second frame, termed a task frame. A task frame is a coordinate frame that can be attached to different objects that are to be manipulated. The task frame is related to the world-based coordinate frame by a simple geometric transformation. The virtues of such a frame are: (1) certain actions that are difficult to specify in the world frame are easily expressed in the task frame: (2) the task-frame to task-uorld transformation provides a formalism for describing physical actions; and (3) the task frame can be related to the world frame by proprioception. *This research was supported in part by the National Science Foundation under Grant WCS-8203920.
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 1984-01-01
Publisher Institution Proc., Nat'l. Conf. on Artificial Intelligence