2P2-J09 Task Flow for Daily Assistive Humanoid using 3D Perception in Household Environment(Humanoid)
Yohei Kakiuchi, Ryohei Ueda, Tsukasa Ito, Kei Okada, Masayuki Inaba · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2011
We present a way for making a task flow using a task planning. We describe a task using PDDL (Planning Domain Descrition Language). And, task planning results are compared to man-made task flow for autonomously generating a task plan. Putting trash on a table to a trashbox is described as a example task. We use colored 3D point cloud for detecting objects and picking objects up in this example.