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Representing Solids for a Real-Time Robot Sensory System



Ronald Lumia


The goal of the sensory system is to supply sufficient information to the robot control system, which actually moves the robot, to accomplish a desired task. The sensory system constantly updates a model of the 3-D workspace to reflect reality. This model is decoupled from the sensory processing so that the control system can be given responses without having to wail for sensory processing. A real-time world model is presented which incorporates both CAD descriptions of known parts and information about each specific object in the workspace. In order to enhance its speed, the 3-D world model supports several representations. The world model predicts the 3-D features for the objects in the workspace of the robot which are used by other modules in the sensory system.
Proceedings Title
Proceedings of the Prolamat ''85 Conference
Conference Dates
June 1, 1985
Conference Location
Paris, FR
Conference Title


CAD, World Modeling


Lumia, R. (1985), Representing Solids for a Real-Time Robot Sensory System, Proceedings of the Prolamat ''85 Conference, Paris, FR, [online], (Accessed July 25, 2024)


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Created June 7, 1985, Updated February 17, 2017