Abstract
Dexterous manipulation is an important function for working robots. Manipulator tasks such as assembly and disassembly can generally be divided into several motion primitives. We call such motion primitives “skills,” and explain how most manipulator tasks can be composed of sequences of these skills. We are currently planning to construct a maintenance robot for household electrical appliances. We considered establishing a hierarchy of the manipulation tasks of this robot since the maintenance of such appliances has become more complex than ever before. In addition, as errors seem likely to increase in complex tasks, it is important to implement an effective error recovery technology. This article presents our proposal for a new type of error recovery that uses the concepts of task stratification and error classification.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Hasegawa T, Suehiro T, Takase K (1992) A model-based manipulation system with skill-based execution. IEEE Trans Robotics Autom 8(5):535–544
Nakamura A, Ogasawara T, Suehiro T, et al (1996) Skill-based back-projection for fine motion planning. In: Asada M, Arai T, Kak A, et al (eds) Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’ 96), Osaka, Japan, November 4–8, 1996, The Institute of Electrical and Electronics Engineers (IEEE), Piscataway, NJ, USA, pp 526–533
Nakamura A, Ogasawara T, Kitagaki K, et al (2001) Using robust and simplified geometric models in skill-based manipulation. In: Tarn TJ, Burdick J, Papanikolopoulos N (eds) Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2001), Hawaii, USA, October 29–November 3, 2001, IEEE, Piscataway, NJ, USA, pp 138–145
Nakamura A, Ogasawara T, Suehiro T, et al (1998) Fine motion strategy in three-dimensional space using skill-based back-projection. Artif Life Robotics 2(3):134–137
Nakamura A, Kitagaki K (2007) Skill-based manipulation and error recovery in maintenance tasks. In: Sugisaka M, Tanaka H (eds) Proceedings of the 12th International Symposium on Artificial Life and Robotics (AROB 12th’ 07), Oita, Japan, January 25–27, 2007, Japan Society for the Promotion of Science (JSPS), Tokyo, Japan, pp 179–182
Donald BR (1989) Error detection and recovery in robotics. Springer, Berlin, Heidelberg, New York, pp 1–256
Evans EZ, Lee CSG (1994) Automatic generation of error recovery knowledge through learned reactivity. In: Gruver WA, Stephanou HE (eds) Proceedings of the IEEE International Conference on Robotics and Automation (IRCA’ 94), California, USA, May 8–13, 1994, IEEE, Piscataway, NJ, USA, pp 2915–2920
Xue G, Fukuda T, Asama H (1995) Error recovery in the assembly of a self-organizing manipulator by using active visual and force sensing. Auton Robots 1:179–186
Moon CW, Lee BH (2001) A model-based error recovery scheme for a multi-robot system. Robotica 19:371–380
Author information
Authors and Affiliations
Corresponding author
Additional information
This work was presented in part at the 14th International Symposium on Artificial Life and Robotics, Oita, Japan, February 5–7, 2009
About this article
Cite this article
Nakamura, A., Kotoku, T. Systematization of error recovery in skill-based manipulation. Artif Life Robotics 14, 203–208 (2009). https://doi.org/10.1007/s10015-009-0654-5
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s10015-009-0654-5