組立/失敗修復arXiv:2103.07544
組立作業の不具合モデル化と修復計画のメタモデリング
Meta-Modeling of Assembly Contingencies and Planning for Repair
ロボット組立作業における失敗を階層的にモデル化し、単純・複雑な不具合の特徴付けと修復戦略を提案した論文。
著者: Priyam Parashar, Aayush Naik, Jiaming Hu, Henrik I. Christensen
分類: cs.RO, cs.AI
原文アブストラクト
The World Robotics Challenge (2018 & 2020) was designed to challenge teams to design systems that are easy to adapt to new tasks and to ensure robust operation in a semi-structured environment. We present a layered strategy to transform missions into tasks and actions and provide a set of strategies to address simple and complex failures. We propose a model for characterizing failures using this model and discuss repairs. Simple failures are by far the most common in our WRC system and we also present how we repaired them.
