@inproceedings{e5ed67a840724c85a8f6cb50bf471a34,
title = "Qualitative physics for robot task planning. I: Grammatical reasoning and commonsense augmentations",
abstract = "This paper presents a qualitative reasoning approach to synthesizing robot motion plans from task-level specifications. This method relies on representing the knowledge about robot manipulation as a task grammar augmented with a domain-dependent task analyzer. The task analyzer tests constraints for deriving suboperations pertaining to a higher-level operation and performs commonsense reasoning about the manipulator-level motion strategies. A case study on planning and analyzing motion strategies for mechanism-oriented manipulation tasks is presented in the companion paper [11]. In this paper, through several examples, we show how syntactical knowledge about robot operations can be formulated for real-world manipulation tasks and how commonsense knowledge can be augmented to constrain the syntactical reasoning.",
author = "Jiming Liu and Laeeque Daneshmend",
year = "1991",
month = nov,
doi = "10.1109/IROS.1991.174519",
language = "English",
isbn = "078030067X",
volume = "2",
series = "IEEE International Workshop on Intelligent Robots and Systems (IROS)",
publisher = "IEEE",
pages = "487--493",
booktitle = "Proceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91",
address = "United States",
note = "IEEE/RSJ International Workshop on Intelligent Robot and Systems '91 ; Conference date: 03-11-1991 Through 05-11-1991",
}