Cooking for humanoid robot, a task that needs symbolic and geometric reasonings

This paper presents a work toward the old dream of the housekeeping robot. One humanoid robot will cooperate with the user to cook simple dishes. The system combines predefined tasks and dialogues to find a plan in which both robot and user help each other in the kitchen. The kitchen problem allows the demonstration of a large variety of actions, and then the necessity to find and to plan those actions. With this problem the task planner can be fully used to enhance the robot reasoning capacity. Furthermore the robot must also use motion planning to have general procedures to cope with the action planned. We focus on the planning problems and the interactions of these two planning methods