FUTUR. Website for the scientific production of UPC researchers.

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
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
URL: https://ieeexplore.ieee.org/document/8593847
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 ...

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 employ a Hierarchical Task Network (HTN) planner interleaved with geometric constraint verification. In this framework we also consider observation actions and handle noisy perceptions from a probabilistic perspective. These ideas are put into practice by means of an experimental set-up in which two Barrett WAM robots have to cooperatively solve a geometric puzzle. Our findings provide further evidence that considering explicitly physical constraints during task planning, rather than deferring their validation to the moment of execution, is advantageous in terms of execution time and breadth of situations that can be handled. © 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
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

Suarez Hernandez, Alejandro (author and speaker )
Alenyà Ribas, Guillem (author and speaker )
Torras, Carme (author and speaker )

Attachments

2060-Interleaving-hierarchical-task-planning-and-motion-constraint-testing-for-dual-arm-manipulation.pdf (5495710 bytes)