Systematization of error recovery in skill-based manipulation

Dexterous manipulation is an important function for working robots. Manipulator tasks such as assembly and disassembly can generally be divided into several motion primitives. We call such motion primitives “skills,” and explain how most manipulator tasks can be composed of sequences of these skills...

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Bibliographic Details
Published in:Artificial life and robotics 2009-11, Vol.14 (2), p.203-208
Main Authors: Nakamura, Akira, Kotoku, Tetsuo
Format: Article
Language:English
Subjects:
Artificial Intelligence
Computation by Abstract Devices
Computer Science
Control
Mechatronics
Original Article
Robotics
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Summary:Dexterous manipulation is an important function for working robots. Manipulator tasks such as assembly and disassembly can generally be divided into several motion primitives. We call such motion primitives “skills,” and explain how most manipulator tasks can be composed of sequences of these skills. We are currently planning to construct a maintenance robot for household electrical appliances. We considered establishing a hierarchy of the manipulation tasks of this robot since the maintenance of such appliances has become more complex than ever before. In addition, as errors seem likely to increase in complex tasks, it is important to implement an effective error recovery technology. This article presents our proposal for a new type of error recovery that uses the concepts of task stratification and error classification.
ISSN:1433-5298
1614-7456
DOI:10.1007/s10015-009-0654-5