Qualitative physics for robot task planning. I: Grammatical reasoning and commonsense augmentations

Jiming Liu*, Laeeque Daneshmend

*Corresponding author for this work

Research output: Chapter in book/report/conference proceedingConference proceedingpeer-review

1 Citation (Scopus)

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.

Original languageEnglish
Title of host publicationProceedings IROS '91:IEEE/RSJ International Workshop on Intelligent Robots and Systems '91
PublisherIEEE
Pages487-493
Number of pages7
Volume2
ISBN (Print)078030067X
DOIs
Publication statusPublished - Nov 1991
EventIEEE/RSJ International Workshop on Intelligent Robot and Systems '91 - Osaka, Japan
Duration: 3 Nov 19915 Nov 1991

Publication series

NameIEEE International Workshop on Intelligent Robots and Systems (IROS)

Conference

ConferenceIEEE/RSJ International Workshop on Intelligent Robot and Systems '91
Country/TerritoryJapan
CityOsaka
Period3/11/915/11/91

Scopus Subject Areas

  • Engineering(all)

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