TaskPlanning
半未知環境の環境構成物記憶と作業依存関係に基づくヒューマノイドの作業手順計画法

概要

This project is a four-year research project funded by JSPS Kakenhi Grant-in-Aid for Early-Career Scientists (19K20380). Our ultimate goal is enabling a robot to autonomously generate and perform a sequence of target tasks considering task dependencies, constraints of a robot and the surrounding environment.​ To achieve this goal, we will conduct research and development on the following three topics.​

1. Task management system which can perform error recovery and parallel processing of a task sequence based on the dependency of tasks.
2. Motion planning technology which can generate feasible whole-body motion for a robot to reach the destination and perform required tasks considering kinematics and dynamics constraints.
3. Semantic environmental memorization to find objects which are neccesary for task execution.​

実施期間

2019.4-2023.3

資金提供

日本学術振興会 科学研究費助成事業（科研費） 若手研究