Task planning for humanoid robots using look-up table

Abstract

The humanoid robot CENTAUR that has been developed at the Korea Institute of Science and Technology consists of a head, two arms, a trunk, two hands and four legs. In addition to its human-like kinematical structure, it has some sensing units like the stereo vision system, which resembles human sensory organs. By using the stereo vision a three-dimensional pose determination algorithm was developed and integrated to the robot controller. With the imported information on objects from the vision system the task planner autonomously determines reliable motions and grasp sequences of the robot. This planner considers the collision and regrasping cases in order to guarantee a complete planning of the pick and place movement in the total robot workspace. An off-line constructed look-up table makes possible a fast grasp planning for any kind of robot configuration. A comprehensive experiment was accomplished to evaluate the proposed algorithm. (C) 2002 Elsevier Science B.V. All rights reserved.