Error Recovery of Pick-and-Place Tasks in Consideration of Reusability of Planning

Akira Nakamura, Kazuyuki Nagata, Kensuke Harada, Natsuki Yamanobe
Corresponding Author
Akira Nakamura
Available Online 1 June 2015.
manipulation skill, error recovery, task stratification, error classification
Error recovery in robotic tasks is explored to enable robots to be used for complicated tasks. The authors’ error recovery processes make use of the concepts of both task stratification and error classification. In this paper, the reusability of planning in error recovery is verified by using the typical pick-and-place tasks that are used in plant maintenance and industrial production.

© 2013, the Authors. Published by ALife Robotics Corp. Ltd.
Open Access
This is an open access article distributed under the CC BY-NC license (

Download article (PDF)