A hierarchical behavior-based approach to manipulation tasks

Typical mobile robots can be customized to perform a variety of different tasks by combining in different ways a set of basic control modules, or behaviors. By contrast, most current systems for manipulation are still designed for just one specific task. In this paper, we propose a hierarchical behavior-based system that can perform several vision-based manipulation tasks by using different combinations of the same set of basic behaviors. Behaviors can run concurrently, and they are arbitrated through "if-then" rules. We show experiments involving object tracking, grasping and placing, both with static and moving objects.

[1]  Rodney A. Brooks,et al.  A layered intelligent control system for a mobile robot , 1986 .

[2]  Rodney A. Brooks,et al.  A Robust Layered Control Syste For A Mobile Robot , 2022 .

[3]  Danica Kragic,et al.  Real-time tracking meets online grasp planning , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[4]  Kiyotaka Izumi,et al.  Fuzzy behavior-based control for a task of three-link manipulator , 1999, IEEE SMC'99 Conference Proceedings. 1999 IEEE International Conference on Systems, Man, and Cybernetics (Cat. No.99CH37028).

[5]  Alessandro Saffiotti,et al.  Using hierarchical fuzzy behaviors in the RoboCup domain , 2003 .

[6]  Takeo Kanade,et al.  Vision and control techniques for robotic visual tracking , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[7]  Kurt Konolige,et al.  Blending reactivity and goal-directedness in a fuzzy controller , 1993, [Proceedings 1993] Second IEEE International Conference on Fuzzy Systems.

[8]  Bruno Siciliano,et al.  Modelling and Control of Robot Manipulators , 1997, Advanced Textbooks in Control and Signal Processing.

[9]  Alfredo Anglani,et al.  Visual servoing of a robotic manipulator based on fuzzy logic control , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[10]  Peter Corke,et al.  VISUAL CONTROL OF ROBOT MANIPULATORS – A REVIEW , 1993 .

[11]  Jonathan H. Connell,et al.  A behavior-based arm controller , 1989, IEEE Trans. Robotics Autom..

[12]  Stephen Yurkovich,et al.  Fuzzy Control , 1997 .

[13]  Warren E. Dixon,et al.  Object tracking by a robot manipulator: a robust cooperative visual servoing approach , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[14]  Giovanni C. Pettinaro,et al.  Basic set of behaviours for programming assembly robots , 1995 .

[15]  Alessandro Saffiotti,et al.  A fuzzy behavior-based control system for manipulation , 2002, IEEE/RSJ International Conference on Intelligent Robots and Systems.