Interactive symbol generation of task planning for daily assistive robot

Abstract

For the development of both hardware and software, task plannings become more and more important for robots to perform various tasks. Applying task planning to robotic system for working in real environments has difficulties. Estimating required symbols before planning is difficult because real environments are partially observable. In this paper, we proposed a method for task planning in partially observable environments with unknown objects. To construct conditional plans used in these environments, we extend the description of actions to multi-effect actions, and to deal with unknown objects, robots get new symbols generated by human interaction on demand. Additionally we show experiments of Willow Garage's PR2 executing the task in the real environment with unknown objects.

Human Body Parts Proximity Measurement Using Distributed Tactile Robotic Skin

“…There are many types of sensors that can detect the proximity of a physical object. Proximity sensors use many physical properties, such as light reflection [ 23 , 24 , 25 , 26 ], sound wave reflection [ 27 , 28 , 29 , 30 , 31 ], reflection of an electromagnetic wave in the radar [ 32 , 33 , 34 ], and also detecting changes in the selected parameter in the space around the sensor, such as electric permeability [ 35 , 36 , 37 , 38 , 39 ], magnetic permeability [ 38 ], or temperature [ 25 ].…”

“…Due to the high inertia and significant detection time, a rarely used solution are measuring systems that test temperature changes near the sensor. For this purpose, highly-stable resistance sensors, e.g., PCS1.1302 [ 25 ] are used.…”