Extending the classical AI planning paradigm to robotic assembly planning

Seth Andrew Hutchinson, A. C. Kak

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A description is given of SPAR, a task planner that has been implemented on a PUMA 762. SPAR is capable of formulating manipulation plans to meet specified assembly goals; these manipulation plans include grasping and regrasping operations if they are deemed necessary for successful completion of assembly. SPAR goes beyond classical AI planners in the sense that SPAR is capable of solving geometric goals associated with high-level symbolic goals. Consequently, if a high-level symbolic goal is on(A,B), SPAR can also entertain the geometric conditions associated with such a goal. Therefore, a simple goal such as on(A,B) may or may not be found to be feasible depending on the kinematic constraints implied by the associated geometric conditions. SPAR has available to it a user-defined repertoire of actions for solving goals and associated with each action is an uncertainty precondition that defines the maximum uncertainty in the world description that would guarantee the successful execution of that action. SPAR has been implemented as a nonlinear constraint posting planner.

Original languageEnglish (US)
Title of host publicationProc 90 IEEE Int Conf Rob Autom
PublisherPubl by IEEE
Pages182-189
Number of pages8
ISBN (Print)0818620617
StatePublished - Dec 1 1990
EventProceedings of the 1990 IEEE International Conference on Robotics and Automation - Cincinnati, OH, USA
Duration: May 13 1990May 18 1990

Publication series

NameProc 90 IEEE Int Conf Rob Autom

Other

OtherProceedings of the 1990 IEEE International Conference on Robotics and Automation
CityCincinnati, OH, USA
Period5/13/905/18/90

ASJC Scopus subject areas

  • Engineering(all)

Fingerprint Dive into the research topics of 'Extending the classical AI planning paradigm to robotic assembly planning'. Together they form a unique fingerprint.

Cite this