Planning and heuristics of assistant manipulator

Artur Babiarz; Tomasz Grzejszczak; Adrian Legowski; Michal Niezabitowski; Justyna Orwat

doi:10.1109/WCICA.2016.7578776

Planning and heuristics of assistant manipulator

Silesian University of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.

Original language	English
Title of host publication	Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2824-2828
Number of pages	5
ISBN (Electronic)	9781467384148
DOIs	https://doi.org/10.1109/WCICA.2016.7578776
Publication status	Published - 27 Sept 2016
Event	12th World Congress on Intelligent Control and Automation, WCICA 2016 - Guilin, China Duration: 12 Jun 2016 → 15 Jun 2016

Publication series

Name	Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
Volume	2016-September

Conference

Conference	12th World Congress on Intelligent Control and Automation, WCICA 2016
Country/Territory	China
City	Guilin
Period	12/06/16 → 15/06/16

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications

Access to Document

10.1109/WCICA.2016.7578776

Cite this

Babiarz, A., Grzejszczak, T., Legowski, A., Niezabitowski, M., & Orwat, J. (2016). Planning and heuristics of assistant manipulator. In Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016 (pp. 2824-2828). Article 7578776 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2016-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/WCICA.2016.7578776

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title = "Planning and heuristics of assistant manipulator",

abstract = "The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.",

author = "Artur Babiarz and Tomasz Grzejszczak and Adrian Legowski and Michal Niezabitowski and Justyna Orwat",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 12th World Congress on Intelligent Control and Automation, WCICA 2016 ; Conference date: 12-06-2016 Through 15-06-2016",

year = "2016",

month = sep,

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doi = "10.1109/WCICA.2016.7578776",

language = "English",

series = "Proceedings of the World Congress on Intelligent Control and Automation (WCICA)",

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Babiarz, A , Grzejszczak, T, Legowski, A, Niezabitowski, M & Orwat, J 2016, Planning and heuristics of assistant manipulator. in Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016., 7578776, Proceedings of the World Congress on Intelligent Control and Automation (WCICA), vol. 2016-September, Institute of Electrical and Electronics Engineers Inc., pp. 2824-2828, 12th World Congress on Intelligent Control and Automation, WCICA 2016, Guilin, China, 12/06/16. https://doi.org/10.1109/WCICA.2016.7578776

Planning and heuristics of assistant manipulator. / Babiarz, Artur ; Grzejszczak, Tomasz; Legowski, Adrian et al.
Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 2824-2828 7578776 (Proceedings of the World Congress on Intelligent Control and Automation (WCICA); Vol. 2016-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Planning and heuristics of assistant manipulator

AU - Babiarz, Artur

AU - Grzejszczak, Tomasz

AU - Legowski, Adrian

AU - Niezabitowski, Michal

AU - Orwat, Justyna

PY - 2016/9/27

Y1 - 2016/9/27

N2 - The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.

AB - The paper presents a planing problem for an assistant manipulator capable of passing objects to user. Moreover, the presented planning problem is solved and implemented with use of STRIPS notation, modifying an Elementary Block World environment. The presented problem is written in form of operations and predicates and solved with use of graph representation and heuristic function. The planning problem has the ability of fast expansion, thus the use of heuristics showed the huge possibility of problem reduction. With use of algorithm implementation, a model of assistant robot manipulator has been created and it can be used to prove the possibilities of real world application with real robotic arm manipulator.

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U2 - 10.1109/WCICA.2016.7578776

DO - 10.1109/WCICA.2016.7578776

M3 - Conference contribution

AN - SCOPUS:84991712423

T3 - Proceedings of the World Congress on Intelligent Control and Automation (WCICA)

SP - 2824

EP - 2828

BT - Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016

PB - Institute of Electrical and Electronics Engineers Inc.

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Y2 - 12 June 2016 through 15 June 2016

ER -

Babiarz A , Grzejszczak T, Legowski A, Niezabitowski M , Orwat J. Planning and heuristics of assistant manipulator. In Proceedings of the 2016 12th World Congress on Intelligent Control and Automation, WCICA 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 2824-2828. 7578776. (Proceedings of the World Congress on Intelligent Control and Automation (WCICA)). doi: 10.1109/WCICA.2016.7578776

Planning and heuristics of assistant manipulator

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