• DocumentCode
    908599
  • Title

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

  • Author

    Lozano-Pérez, Tomás ; Jones, Joseph L. ; Mazer, Emmanuel ; O´donnell, Patrick A.

  • Author_Institution
    Artificial Intelligence Lab., MIT, Cambridge, MA, USA
  • Volume
    22
  • Issue
    3
  • fYear
    1989
  • fDate
    3/1/1989 12:00:00 AM
  • Firstpage
    21
  • Lastpage
    29
  • Abstract
    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.<>
  • Keywords
    position control; robots; Handey; heuristic motion planning; pick-and-place robot motions; task-level planning; task-level robot system; Artificial intelligence; Assembly systems; Intelligent robots; Kinematics; Laboratories; Motion planning; Robot motion; Robotic assembly; Service robots; Strategic planning;
  • fLanguage
    English
  • Journal_Title
    Computer
  • Publisher
    ieee
  • ISSN
    0018-9162
  • Type

    jour

  • DOI
    10.1109/2.16222
  • Filename
    16222
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=908599