Authors:
Takahiro Saito
1
;
Yuichi Kobayashi
2
and
Tatsuya Naruse
2
Affiliations:
1
Shizuoka Univ., Japan
;
2
Shizuoka University, Japan
Keyword(s):
Motion Generation, Developmental Robotics, Hybrid System, Mobile Robot.
Related
Ontology
Subjects/Areas/Topics:
Artificial Intelligence
;
Biomedical Engineering
;
Biomedical Signal Processing
;
Computational Intelligence
;
Health Engineering and Technology Applications
;
Human-Computer Interaction
;
Learning Paradigms and Algorithms
;
Methodologies and Methods
;
Neural Networks
;
Neurocomputing
;
Neurotechnology, Electronics and Informatics
;
Pattern Recognition
;
Physiological Computing Systems
;
Sensor Networks
;
Signal Processing
;
Soft Computing
;
Theory and Methods
Abstract:
This paper presents a planning method of pushing manipulation by a mobile robot. It is sometimes very useful
if the robot can take recovery action, namely, re-approaching and re-pushing, when it turns out to be ineffective
to keep current pushing motion. The proposed planning framework is based on the idea of mode switching,
where three modes; approaching, pushing and re-pushing, are considered. The pushing motion is first built
with dynamic programming, which provides value function of the state. Based on the value, planning of
re-approaching to the object and re-pushing is conducted using a value iteration algorithm extended to state
space with uncertainty. The proposed planning framework was evaluated in simulation, and it was shown that
it provides more effective behaviour of the robot by recovery motion at an appropriate timing.