Task-Level Planning of Pick-and-Place Robot Motions

Authors:
T. Lozano-Pérez;E. Mazer;J. L. Jones;P. A. O'Donnell
Affiliations:
Massachusetts Institute of Technology, Cambridge;LIFIA, Grenoble, France;Massachusetts Institute of Technology, Cambridge;Massachusetts Institute of Technology, Cambridge
Venue:
Computer
Year:
1989

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Abstract

A task-level robot system named Handey, which is under development, is described. The current system is limited to pick-and-place operations, and it has successfully carried out dozens of such operations involving a variety of parts in relatively complex environments. The pick-and-place problem is described, and approximate approaches to the problem are examined. Heuristic motion planning in Handey is then discussed.