Towards automatic manipulation action planning for service robots

Authors:
Steffen W. Ruehl;Zhixing Xue;Thilo Kerscher;Rüdiger Dillmann
Affiliations:
FZI Forschungszentrum Informatik, Karlsruhe, Germany;FZI Forschungszentrum Informatik, Karlsruhe, Germany;FZI Forschungszentrum Informatik, Karlsruhe, Germany;FZI Forschungszentrum Informatik, Karlsruhe, Germany
Venue:
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
Year:
2010

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Abstract

A service robot should be able to automatically plan manipulation actions to help people in domestic environments. Following the classic senseplan-act cycle, in this paper we present a planning system based on a symbolic planner, which can plan feasible manipulation actions and execute it on a service robot. The approach consists of five steps. Scene Mapping formulates object relations from the current scene for the symbolic planner. Discretization generates discretized symbols for Planning. The planned manipulation actions are checked by Verification, so that it is guaranteed that they can be performed by the robot during Execution. Experiments of planned pick-and-place and pour-in tasks on real robot show the feasibility of our method.