Robotic Assembly and Task Planning

Avinash C. Kak

Abstract


If classical planners are ever to automatically plan the actions of the smart machines, particularly robots for the automatic assembly of industrial objects, then they will have to know much more about geometry and topology as well as sensing. Consider that the simple act of changing an object's grasp -- the change might be necessitated by the nature of some assembly goal -- involves the interaction of the geometries of the grasping device and the object if the change is to occur without a collision between the device and the object. Of course, one could ask, Could geometric considerations be divorced from the highly developed symbolic-level planning? That is, could we first synthesize a symbolic plan and then plug in the geometry for the execution of the actions? Experience has shown the answer to, unfortunately, be a big no.

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DOI: http://dx.doi.org/10.1609/aimag.v11i1.820

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