Fast LTL-Based Flexible Planning for Dual-Arm Manipulation

被引:9
作者
Katayama, Mizuho [1 ,2 ]
Tokuda, Shumpei [1 ]
Yamakita, Masaki [1 ]
Oyama, Hiroyuki [3 ]
机构
[1] Tokyo Inst Technol, Dept Syst & Control Engn, Meguro Ku, 1-11-1 Oh Okayama, Tokyo 1518551, Japan
[2] NEC Corp Ltd, Biometr Res Labs, Kawasaki, Kanagawa, Japan
[3] NEC Corp Ltd, Data Sci Res Labs, Nakahara Ku, 1753 Shimonumabe, Kawasaki, Kanagawa 2118666, Japan
来源
2020 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2020年
关键词
SYSTEMS; LOGIC;
D O I
10.1109/IROS45743.2020.9341352
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In this paper, we propose a method for automatically generating object handling actions based on simple action definitions. The need to replace workers by robots is increasing, and, in fact, many research projects on robots have worked with simple motion definitions. Many applications are for mobile robots such as drones, however, and if such methods are applied directly to object handling, like a pick and place operation, it is necessary for humans to give detailed instructions. Hence, our contribution is to propose a model that simulates the real world with an augmented hybrid system that includes the states of objects. Then, it becomes possible to automatically generate robot motions with simple motion definitions and calculate them within a reasonable time. We demonstrate through computer simulation with a dual-arm robot that robot motions can be generated by simple definitions even if the environment changes to a certain degree.
引用
收藏
页码:6605 / 6612
页数:8
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