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A general framework of robot manipulation planning for door opening task is proposed in this paper. First grasp pattern, including grasp point and method for various door handles, is defined. Second door-opening pattern, including task planning and trajectory planning, is also proposed. This paper utilizes Kinect as a vision sensor to collect point cloud data of the environment. Viewpoint Feature...
The current work environments for mobile robots tend to be complex and dynamic, which often causes difficulties in the execution of tasks due to incomplete and uncertain information. A number of experiments and applications have shown that it is an appropriate and efficient approach to handle this issue by integrating the AI method with plan-based robot control. In this paper, an HTN (Hierarchical...
In this paper, a robot simulation system which can accomplish multi-task planning is proposed. The system is based on Simbad - an autonomous robot simulation package. Compared to Simbad, our system can establishes the environment model, and enables robots to make proper planning under uncertainties. The main contributions of this paper are 1) integrating the “Environment Memory Base” in the simulation...
Tasks planning under uncertainties is one of fundamental skills for enabling autonomous robots to make proper manipulations in the complex environment. But owing to inexpressive representations, autonomous robots hardly conduct efficient tasks planning, especially in unknown conditions. The application of semantic knowledge in task planning is critically required in artificial intelligence research...
In this paper, the Mobile Parallel Robot (MPR) with structural configurations of PPUU (Prismatic - Prismatic - Universal - Universal) is developed. The inverse kinematics is firstly derived and a specific control system is presented. The control system integrates the features of parallel robot and mobile robot. Five control modules are included in the control software. By using the omnidirectional...
As the pioneers of robots for family services, the current cleaning and security robots cannot implement high-level and multi-task planning; an efficient solution to adapt the dynamic environments of household work is desired. To deal with this issue and enhance the flexibility of robots with partial observability, a HTN (Hierarchical Task Network) -based semantic planner integrating the robot's control...
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