Title :
Robot behavior planning with qualitative reasoning
Author :
Peters, Stephen ; Hirai, Shigeoki ; Omata, Toru ; Sato, Tomomasa
Author_Institution :
Jet Propulsion Lab., Pasadena, CA, USA
Abstract :
A qualitative reasoning planner for behavior improvement by selecting and determining robot control parameters to drive manipulation actions has been developed, integrated into a telerobot system, and demonstrated for a match striking task. The planner consists of a qualitative reasoner and a numerical execution history which interact to jointly direct and narrow the search for reliable numerical control parameter values. The planner algorithm, implementation, and an execution example are described
Keywords :
inference mechanisms; numerical control; planning (artificial intelligence); robots; behavior improvement; manipulation actions; match striking task; qualitative reasoning planner; reliable numerical control parameter values; telerobot system; Control systems; Equations; History; Intelligent robots; Intelligent systems; Laboratories; Motion planning; Propulsion; Robot control; Robot kinematics;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174522
