徐国桦, 徐毓良, 陈宝康. 一个基于分层推理的机器人抓取规划系统[J]. 机器人, 1993, 15(4): 7-12.
引用本文: 徐国桦, 徐毓良, 陈宝康. 一个基于分层推理的机器人抓取规划系统[J]. 机器人, 1993, 15(4): 7-12.
XU Guohua, XU Yuliang, CHEN Baokang. A HIERARCHICAL REASONING-BASED ROBOT GRASPING PLANNING SYSTEM[J]. ROBOT, 1993, 15(4): 7-12.
Citation: XU Guohua, XU Yuliang, CHEN Baokang. A HIERARCHICAL REASONING-BASED ROBOT GRASPING PLANNING SYSTEM[J]. ROBOT, 1993, 15(4): 7-12.

一个基于分层推理的机器人抓取规划系统

A HIERARCHICAL REASONING-BASED ROBOT GRASPING PLANNING SYSTEM

  • 摘要: 本文给出一个基于分层推理的机器人抓取规划系统 KBGS.该系统把对象的知识分成经验知识和精确知识两个层次,并首先使用经验知识进行抓取方案的规划,一旦输出一个适合于环境和任务的用符号形式描述的抓取方案,就使用对象的精确知识进行具体的抓取参数的推理.

     

    Abstract: This paper pesents a robot grasping planning system based on the hierarchical reasoning—KBGS.The system divides the object knowledge into two levels:coarse knowledge and fine knowledge.First the KBGS carries out the grasping scheme planning on the basis of the coarse knowledge,the planning result is a symbolic grasping scheme for the environment and task.Then based on this scheme,fine grasping parameters are reasoned using the fine knowledge of objects.

     

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