| Autor: |
Takata, Kota, Kiyokawa, Takuya, Yamanobe, Natsuki, Ramirez-Alpizar, Ixchel G., Wan, Weiwei, Harada, Kensuke |
| Předmět: |
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| Zdroj: |
Robotics; Dec2022, Vol. 11 Issue 6, p123, 18p |
| Abstrakt: |
It is difficult to effectively operate a dual-arm robot using only the information written in a cooking recipe. To cope with this problem, this paper proposes a graph-based approach on bimanual cooking motion planning from a cooking recipe. In our approach, we first decompose the cooking recipe into graph elements. Then, we try to connect the graph elements taking into account the attributes of the input/output nodes. If two graph elements cannot be connected to each other, we search for a graph element that can be inserted between them from a motion database. Since the constructed graph includes the whole sequence of the robot's motions to perform the cooking task, we can generate a task sequence of a dual-arm manipulator simultaneously performing two different tasks by using two arms. Through experimental study, we show that it is possible to generate robot motions from a cooking recipe and perform the cooking motions while simultaneously moving the left and right arms. [ABSTRACT FROM AUTHOR] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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