TY - GEN
T1 - Extending the classical AI planning paradigm to robotic assembly planning
AU - Hutchinson, Seth Andrew
AU - Kak, A. C.
PY - 1990/12/1
Y1 - 1990/12/1
N2 - 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.
AB - 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.
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M3 - Conference contribution
AN - SCOPUS:0025628064
SN - 0818620617
T3 - Proc 90 IEEE Int Conf Rob Autom
SP - 182
EP - 189
BT - Proc 90 IEEE Int Conf Rob Autom
PB - Publ by IEEE
T2 - Proceedings of the 1990 IEEE International Conference on Robotics and Automation
Y2 - 13 May 1990 through 18 May 1990
ER -