A Hierarchical Behavior-Based Approach to Manipulation Tasks

Z. Wasik and A. Saffiotti

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.
Z. Wasik and A. Saffiotti. A Hierarchical Behavior-Based Approach to Manipulation Tasks. Proc. of the IEEE Int. Conf. on Robotics and Automation (ICRA) Taipei, TW, 2003.
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Email Zbigniew Wasik
Email Alessandro Saffiotti
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