Akira Nakamura¹, Kensuke Harada²
1Department of Information Systems, Faculty of Engineering, Saitama Institute of Technology, 1690 Fusaiji, Fukaya, Saitama 369-0293, Japan
2Robotic Manipulation Research Group, Systems Innovation Department, Graduate School of Engineering Science, Osaka University,1-3 Machikaneyama, Toyonaka 560-8531, Japan
pp. 230–237
ABSTRACT
In recent years, robots have played an important role in various places, including factories of the manufacturing industry as well as homes where people live. The number of robotic tasks with a high degree of difficulty is increasing because they are required to perform various types of tasks, and failures are likely to occur. Therefore, there is a growing demand for error recovery techniques. We propose an error recovery method that considers task stratification and error classification. This allows various error-recovery paths to be derived for a single error. In this study, recovery paths were classified into several patterns to facilitate selection of the optimal path.

ARTICLE INFO
Article History
Received 21 November 2022
Accepted 22 July 2023

Keywords
Planning
Modeling
Revival process of failure
Manipulation skill

JAALR3407

Download article(PDF)