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Combining task and path planning for a humanoid two-arm robotic system

Karlsson, Lars and Bidot, Julien and Lagriffoul, Fabien and Saffiotti, Alessandro and Hillenbrand, Ulrich and Schmidt, Florian (2012) Combining task and path planning for a humanoid two-arm robotic system. TAMPRA 2012, São Paulo, Brazil .

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Abstract

The ability to perform both causal (means-end) and ge- ometric reasoning is important in order to achieve au- tonomy for advanced robotic systems. In this paper, we describe work in progress on planning for a humanoid two-arm robotic system where task and path planning capabilities have been integrated into a coherent plan- ning framework. We address a number of challenges of integrating combined task and path planning with the complete robotic system, in particular concerning perception and execution. Geometric backtracking is considered: this is the process of revisiting geometric choices (grasps, positions etc.) in previous actions in order to be able to satisfy the geometric preconditions of the action presently under consideration of the plan- ner. We argue that geometric backtracking is required for resolution completeness. Our approach is demon- strated on a real robotic platform, Justin at DLR, and in a simulation of the same robot. In the latter, we con- sider the consequences of geometric backtracking

Item URL in elib:https://elib.dlr.de/81288/
Document Type:Conference or Workshop Item (Paper)
Title:Combining task and path planning for a humanoid two-arm robotic system
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Karlsson, Lars UNSPECIFIEDUNSPECIFIED
Bidot, JulienUNSPECIFIEDUNSPECIFIED
Lagriffoul, FabienUNSPECIFIEDUNSPECIFIED
Saffiotti, Alessandro UNSPECIFIEDUNSPECIFIED
Hillenbrand, Ulrichulrich.hillenbrand (at) dlr.deUNSPECIFIED
Schmidt, FlorianFlorian.Schmidt (at) dlr.deUNSPECIFIED
Date:2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Task Planning, Path Planning, Bimanual Manipulation, Robot
Event Title:TAMPRA 2012
Event Location:São Paulo, Brazil
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Interagierende Robotersteuerung (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Grebenstein, Dr. sc. Markus
Deposited On:21 Feb 2013 11:44
Last Modified:13 Jul 2016 17:29

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