Planning robot control parameter values with qualitative reasoning

Authors:
Stephen F. Peters;Shigeoki Hirai;Toru Ornata;Tomomasa Sato
Affiliations:
Jet Propulsion Laboratory, California Institute of Technology, Pasadena, California;Electrotechnical Laboratory, Tsukuba, Ibaraki, Japan;Electrotechnical Laboratory, Tsukuba, Ibaraki, Japan;Electrotechnical Laboratory, Tsukuba, Ibaraki, Japan
Venue:
IJCAI'91 Proceedings of the 12th international joint conference on Artificial intelligence - Volume 2
Year:
1991

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Abstract

A qualitative reasoning planner for determining robot control parameters to drive manipulation actions has been developed, integrated into a telerobot system, and demonstrated for a match striking task. The planner consists of a qualitative reasoner and a numerical execution history which interact to jointly direct and narrow the search for reliable numerical control parameter values. The planner algorithm, implementation, and an execution example are described. The relationship to previous qualitative reasoning work is also discussed.