Bridging the Gap between Task Planning and Path Planning

13 years 10 months ago

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— Autonomous service robots have to recognize and interpret their environment to be able to interact with it. This paper will focus on service tasks such as serving a glass of water where a humanoid two-arm-system has to acquire an object from the scene. A task planner should be able to autonomously discern the necessary actions to solve the task. In the process, a path planner can be used to compute motion sequences to execute these actions. To plan trajectories, the path planner requires a pair of conﬁgurations, the start and the goal conﬁguration of the robot, to be provided e.g. by a task planner. This paper proposes a method to autonomously ﬁnd the goal conﬁgurations necessary to acquire objects from the scene and thus makes an attempt to bridge the gap between task planning and path planning. The method determines where to grasp an object by analyzing the scene and the inﬂuence of obstacles on the intended grasp location. For the case where the goal object can not be ...

Franziska Zacharias, Christoph Borst, Gerd Hirzing

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