Abstract
A service robot should be able to automatically plan manipulation actions to help people in domestic environments. Following the classic sense-plan-act cycle, in this paper we present a planning system based on a symbolic planner, which can plan feasible manipulation actions and execute it on a service robot. The approach consists of five steps. Scene Mapping formulates object relations from the current scene for the symbolic planner. Discretization generates discretized symbols for Planning. The planned manipulation actions are checked by Verification, so that it is guaranteed that they can be performed by the robot during Execution. Experiments of planned pick-and-place and pour-in tasks on real robot show the feasibility of our method.
The research leading to these results has been supported by the DEXMART Large-scale integrating project, which has received funding from the European Community’s Seventh Framework Programme (FP7/2007-2013) under grant agreement ICT-216239. The authors are solely responsible for its content. It does not represent the opinion of the European Community and the Community is not responsible for any use that might be made of the information contained therein.
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Ruehl, S.W., Xue, Z., Kerscher, T., Dillmann, R. (2010). Towards Automatic Manipulation Action Planning for Service Robots. In: Dillmann, R., Beyerer, J., Hanebeck, U.D., Schultz, T. (eds) KI 2010: Advances in Artificial Intelligence. KI 2010. Lecture Notes in Computer Science(), vol 6359. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16111-7_42
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DOI: https://doi.org/10.1007/978-3-642-16111-7_42
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