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Task-level planning of pick-and-place robot motions

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4 Author(s)
Lozano-Perez, T. ; Artificial Intelligence Lab., MIT, Cambridge, MA, USA ; Jones, J.L. ; Mazer, E. ; O'Donnell, P.A.

A task-level robot system named Handey, which is under development, is described. The current system is limited to pick-and-place operations, and it has successfully carried out dozens of such operations involving a variety of parts in relatively complex environments. The pick-and-place problem is described, and approximate approaches to the problem are examined. Heuristic motion planning in Handey is then discussed.<>

Published in:

Computer  (Volume:22 ,  Issue: 3 )