DocumentCode
2803906
Title
Robot behavior planning with qualitative reasoning
Author
Peters, Stephen ; Hirai, Shigeoki ; Omata, Toru ; Sato, Tomomasa
Author_Institution
Jet Propulsion Lab., Pasadena, CA, USA
fYear
1991
fDate
3-5 Nov 1991
Firstpage
508
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1991.174522
Filename
174522
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