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Interleaving hierarchical task planning and motion constraint testing for dual-arm manipulation

Author
Suarez, A.; Alenyà, G.; Torras, C.
Type of activity
Presentation of work at congresses
Name of edition
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems
Date of publication
2018
Presentation's date
2018
Book of congress proceedings
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): Towards a robotic society: October, 1-5, 2018, Madrid, Spain, Madrid Municipal Conference Centre
First page
4061
Last page
4066
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
DOI
https://doi.org/10.1109/IROS.2018.8593847 Open in new window
Project funding
HuMoUR: Markerless 3D human motion understanding for adaptive robot behavior - TIN2017-90086-R
Robots Understanding Their Actions by Imagining Their Effects
Unit of Excellence María de Maeztu
Repository
http://hdl.handle.net/2117/129368 Open in new window
URL
https://ieeexplore.ieee.org/document/8593847 Open in new window
Abstract
In recent years the topic of combining motion and symbolic planning to perform complex tasks in the field of robotics has received a lot of attention. The underlying idea is to have access at once to the reasoning capabilities of a task planner and to the ability of the motion planner to verify that the plan is feasible from a physical and geometrical point of view. The present work describes a framework to perform manipulation tasks that require the use of two robotic manipulators. To do so we ...
Citation
Suarez, A.; Alenyà, G.; Torras, C. Interleaving hierarchical task planning and motion constraint testing for dual-arm manipulation. A: IEEE/RSJ International Conference on Intelligent Robots and Systems. "2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)". Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 4061-4066.
Keywords
planning (artificial intelligence)
Group of research
ROBiri - IRI Robotics Group

Participants