HANDEY: A Robot Task Planner

Abstract

Part 1 Introduction: HANDEY robot programming why is robot programming difficult? what HANDEY is and is not. Part 2 Planning pick-and-place operations: examples of constraint interactions a brief overview of HANDEY the HANDEY planners combining the planners previous work. Part 3 Basics: polyhedral models robot models world models configuration space. Part 4 Gross motion planning: approximating the COs for revolute manipulators slice projections for polyhedral links efficiency considerations searching for paths a massively parallel algorithm. Part 5 Grasp planning: basic assumptions grasp planner overview using depth data in grasp planning the potential-field planner. Part 6 Regrasp planning: grasps placements on a table constructing the legal grasp/placement pairs solving the regrasp problem in handey an example computing the constraints regrasping using two parallel-jaw grippers. Part 7 Co-ordinating multiple robots: co-ordination and parallelism robot co-ordination as a scheduling problem the task completion diagram generating the TC diagram more on schedules other issues. Part 8 Conclusion: evolution path planning experimentation what we learned. (Part contents)