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Bridging the Gap between Task Planning and Path Planning

Zacharias, Franziska and Borst, Christoph and Hirzinger, Gerhard (2006) Bridging the Gap between Task Planning and Path Planning. In: Proceedings, pp. 4490-4495. IEEE/RSJ. IROS, RSJ International Conference on Intelligent Robots and Systems, 2006-10-09 - 2006-10-15, Beijing, China.

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Abstract

Autonomous service robots have to recognize and interpret their environment to be able to interact with it. This paper will focus on service tasks such as serving a glass of water where a humanoid two-arm-system has to acquire an object from the scene. A task planner should be able to autonomously discern the necessary actions to solve the task. In the process, a path planner can be used to compute motion sequences to execute these actions. To plan trajectories, the path planner requires a pair of configurations, the start and the goal configuration of the robot, to be provided e.g. by a task planner. This paper proposes a method to autonomously find the goal configurations necessary to acquire objects from the scene and thus makes an attempt to bridge the gap between task planning and path planning. The method determines where to grasp an object by analyzing the scene and the influence of obstacles on the intended grasp location. For the case where the goal object can not be grasped due to obstructing obstacles, a solution is proposed.

Item URL in elib:https://elib.dlr.de/45152/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Bridging the Gap between Task Planning and Path Planning
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Zacharias, FranziskaUNSPECIFIEDUNSPECIFIED
Borst, ChristophUNSPECIFIEDUNSPECIFIED
Hirzinger, GerhardUNSPECIFIEDUNSPECIFIED
Date:9 October 2006
Journal or Publication Title:Proceedings
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 4490-4495
Publisher:IEEE/RSJ
Status:Published
Keywords:Task Planning, Path Planning
Event Title:IROS, RSJ International Conference on Intelligent Robots and Systems
Event Location:Beijing, China
Event Type:national Conference
Event Dates:2006-10-09 - 2006-10-15
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Robotic Systems
Deposited By: Beinhofer, Gabriele
Deposited On:27 Feb 2007
Last Modified:31 Jul 2019 19:18

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