Skip to main content
SpringerLink
Log in

Automated Planning Encodings for the Manipulation of Articulated Objects in 3D with Gravity

  • Conference paper
  • First Online:
AI*IA 2019 – Advances in Artificial Intelligence (AI*IA 2019)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11946))

Abstract

The manipulation of articulated objects plays an important role in real-world robot tasks, both in home and industrial environments. A lot of attention has been devoted to the development of ad hoc approaches and algorithms for generating the sequence of movements the robot has to perform in order to manipulate the object. Such approaches can hardly generalise on different settings, and are usually focused on 2D manipulations.

In this paper we introduce a set of PDDL+ formulations for performing automated manipulation of articulated objects in a three-dimensional workspace by a dual-arm robot. Presented formulations differ in terms of how gravity is modelled, considering different trade-offs between modelling accuracy and planning performance, and between human-readability and parsability by planners. Our experimental analysis compares the formulations on a range of domain-independent planners, that aim at generating plans for allowing a dual-arm robot to manipulate articulated objects of different sizes. Validation is performed in simulation on a Baxter robot.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

References

  1. Agostini, A., Torras, C., Worgotter, F.: Integrating task planning and interactive learning for robots to work in human environments. In: Proceedings of the 22nd International Joint Conference on Artificial Intelligence (IJCAI 2011), pp. 2386–2391. IJCAI/AAAI (2011)

    Google Scholar 

  2. Balduccini, M., Magazzeni, D., Maratea, M., Leblanc, E.: CASP solutions for planning in hybrid domains. Theory Practice Logic Program. 17(4), 591–633 (2017)

    Article  MathSciNet  Google Scholar 

  3. Bertolucci, R., et al.: An ASP-based framework for the manipulation of articulated objects using dual-arm robots. In: Balduccini, M., Lierler, Y., Woltran, S. (eds.) LPNMR 2019. LNCS, vol. 11481, pp. 32–44. Springer, Heidelberg (2019). https://doi.org/10.1007/978-3-030-20528-7_3

    Chapter  Google Scholar 

  4. Bodenhagen, L., et al.: An adaptable robot vision system performing manipulation actions with flexible objects. IEEE Trans. Autom. Sci. Eng. 11(3), 749–765 (2014)

    Article  Google Scholar 

  5. Bryce, D., Gao, S., Musliner, D.J., Goldman, R.P.: SMT-based nonlinear PDDL+ planning. In: Proceedings of the 29th AAAI Conference on Artificial Intelligence (AAAI 2015), pp. 3247–3253. AAAI Press (2015)

    Google Scholar 

  6. Cambon, S., Alami, R., Gravot, F.: A hybrid approach to intricate motion, manipulation and task planning. Int. J. Robot. Res. 28(1), 104–126 (2009)

    Article  Google Scholar 

  7. Capitanelli, A., Maratea, M., Mastrogiovanni, F., Vallati, M.: Automated planning techniques for robot manipulation tasks involving articulated objects. In: Esposito, F., Basili, R., Ferilli, S., Lisi, F. (eds.) AI*IA 2017. LNCS, vol. 10640, pp. 483–497. Springer, Heidelberg (2017). https://doi.org/10.1007/978-3-319-70169-1_36

    Chapter  Google Scholar 

  8. Capitanelli, A., Maratea, M., Mastrogiovanni, F., Vallati, M.: On the manipulation of articulated objects in human-robot cooperation scenarios. Robot. Auton. Syst. 109, 139–155 (2018)

    Article  Google Scholar 

  9. Cashmore, M., Fox, M., Long, D., Magazzeni, D.: A compilation of the full PDDL+ language into SMT. In: Proceedings of the 26th International Conference on Automated Planning and Scheduling (ICAPS 2016), pp. 79–87. AAAI Press (2016)

    Google Scholar 

  10. Dantam, N., Kingstone, Z., Chaudhuri, S., Kavraki, L.: An incremental constraint-based framework for task and motion planning. Int. J. Robot. Res. 37(10), 1134–1151 (2018)

    Article  Google Scholar 

  11. Della Penna, G., Magazzeni, D., Mercorio, F., Intrigila, B.: Upmurphi: a tool for universal planning on PDDL+ problems. In: Proceedings of the 19th International Conference on Automated Planning and Scheduling (ICAPS 2009). AAAI (2009)

    Google Scholar 

  12. Dornhege, C., Eyerich, P., Keller, T., Trug, S., Brenner, M., Nebel, B.: Semantic attachments for domain-independent planning systems. In: Proceedings of the 19th International Conference on Automated Planning and Scheduling (ICAPS 2009). AAAI (2009)

    Google Scholar 

  13. Fox, M., Long, D.: Modelling mixed discrete-continuous domains for planning. J. Artif. Intell. Res. 27, 235–297 (2006)

    Article  Google Scholar 

  14. Garrett, C., Perez, T., Kaelbling, L.: FF-Rob: leveraging symbolic planning for efficient task and motion planning. Int. J. Robot. Res. 37(1), 104–136 (2018)

    Article  Google Scholar 

  15. Gebser, M., Leone, N., Maratea, M., Perri, S., Ricca, F., Schaub, T.: Evaluation techniques and systems for answer set programming: a survey. In: Proceedings of the 27th International Joint Conference on Artificial Intelligence (IJCAI 2018), pp. 5450–5456. ijcai.org (2018)

    Google Scholar 

  16. Gebser, M., Maratea, M., Ricca, F.: The design of the seventh answer set programming competition. In: Balduccini, M., Janhunen, T. (eds.) LPNMR 2017. LNCS (LNAI), vol. 10377, pp. 3–9. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-61660-5_1

    Chapter  MATH  Google Scholar 

  17. Giunchiglia, E., Maratea, M., Tacchella, A.: Dependent and independent variables in propositional satisfiability. In: Flesca, S., Greco, S., Ianni, G., Leone, N. (eds.) JELIA 2002. LNCS (LNAI), vol. 2424, pp. 296–307. Springer, Heidelberg (2002). https://doi.org/10.1007/3-540-45757-7_25

    Chapter  MATH  Google Scholar 

  18. Giunchiglia, E., Maratea, M., Tacchella, A.: (In)effectiveness of look-ahead techniques in a modern SAT solver. In: Rossi, F. (ed.) CP 2003. LNCS, vol. 2833, pp. 842–846. Springer, Heidelberg (2003). https://doi.org/10.1007/978-3-540-45193-8_64

    Chapter  Google Scholar 

  19. Henrich, D., Worn, H.: Robot Manipulation of Deformable Objects. Advanced Manufacturing. Springer, Heidelberg (2000). https://doi.org/10.1007/978-1-4471-0749-1

    Google Scholar 

  20. Heyer, C.: Human-robot interaction and future industrial robotics applications. In: Proceedings of IEEE International Conference on Intelligent Robots and Systems (IROS 2010), pp. 4749–4754. IEEE (2010)

    Google Scholar 

  21. Hoffmann, J.: The metric-FF planning system: translating íngnoring delete listst́o numeric state variables. J. Artif. Intell. Res. 20, 291–341 (2003)

    Google Scholar 

  22. Kaelbling, L., Perez, T.: Integrated task and motion planning in the belief space. Int. J. Robot. Res. 32(9–10), 1194–1227 (2013)

    Article  Google Scholar 

  23. Krüger, J., Lien, T., Verl, A.: Cooperation of humans and machines in the assembly lines. CIRP Ann. - Manuf. Technol. 58(2), 628–646 (2009)

    Article  Google Scholar 

  24. McCluskey, T.L., Vaquero, T.S., Vallati, M.: Engineering knowledge for automated planning: towards a notion of quality. In: Proceedings of the Knowledge Capture Conference (K-CAP 2017), pp. 14:1–14:8 (2017)

    Google Scholar 

  25. Mellarkod, V.S., Gelfond, M., Zhang, Y.: Integrating answer set programming and constraint logic programming. Ann. Math. Artif. Intell. 53(1–4), 251–287 (2008)

    Article  MathSciNet  Google Scholar 

  26. Nair, A., et al.: Combining self-supervised learning and imitation for vision-based rope manipulation. In: Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA 2017), pp. 2146–2153. IEEE (2017)

    Google Scholar 

  27. Piotrowski, W.M., Fox, M., Long, D., Magazzeni, D., Mercorio, F.: Heuristic planning for PDDL+ domains. In: Proceedings of the 25th International Joint Conference on Artificial Intelligence (IJCAI 2016), pp. 3213–3219. IJCAI/AAAI Press (2016)

    Google Scholar 

  28. Ramírez, M., et al.: Integrated hybrid planning and programmed control for real time UAV maneuvering. In: Proceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems (AAMAS 2018), pp. 1318–1326. International Foundation for Autonomous Agents and Multiagent Systems, Richland, SC, USA/ACM (2018)

    Google Scholar 

  29. Saadat, M., Nan, P.: Industrial applications of automatic manipulation of flexible materials. Ind. Robot: Int. J. 29(5), 434–442 (2002)

    Article  Google Scholar 

  30. Scala, E., Haslum, P., Thiébaux, S., Ramírez, M.: Interval-based relaxation for general numeric planning. In: Proceedings of the 22nd European Conference on Artificial Intelligence (ECAI 2016). Frontiers in Artificial Intelligence and Applications, vol. 285, pp. 655–663. IOS Press (2016)

    Google Scholar 

  31. Schulman, J., Ho, J., Lee, C., Abbeel, P.: Learning from demonstrations through the use of non-rigid registration. In: Inaba, M., Corke, P. (eds.) Robotics Research. STAR, vol. 114. Springer, Cham. https://doi.org/10.1007/978-3-319-28872-7_20

    Google Scholar 

  32. Srivastava, S., Fang, E., Riano, L., Chitnis, R., Russell, S., Abbeel, P.: Combined task and motion planning through an extensible planner-independent interface layer. In: Proceedings of the 2014 IEEE International Conference on Robotics and Automation (ICRA 2014), pp. 639–646. IEEE (2014)

    Google Scholar 

  33. Wakamatsu, H., Arai, E., Hirai, S.: Knotting and unknotting manipulation of deformable linear objects. Int. J. Robot. Res. 25(4), 371–395 (2006)

    Article  Google Scholar 

  34. Wilcoxon, F.: Individual comparisons by ranking methods. Biometrics Bull. 1(6), 80–83 (1945)

    Article  Google Scholar 

  35. Yamakawa, Y., Namiki, A., Ishikawa, M.: Dynamic high-speed knotting of a rope by a manipulator. Int. J. Adv. Robot. Syst. 10, 1–12 (2013)

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

  1. DeMaCS, University of Calabria, Rende, Italy

    Riccardo Bertolucci

  2. DIBRIS, University of Genova, Genova, Italy

    Alessio Capitanelli, Marco Maratea & Fulvio Mastrogiovanni

  3. University of Huddersfield, Huddersfield, UK

    Mauro Vallati

Authors
  1. Riccardo Bertolucci
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Alessio Capitanelli
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Marco Maratea
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Fulvio Mastrogiovanni
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Mauro Vallati
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Marco Maratea .

Editor information

Editors and Affiliations

  1. University of Calabria, Rende, Italy

    Mario Alviano

  2. University of Calabria, Rende, Italy

    Gianluigi Greco

  3. University of Calabria, Rende, Italy

    Francesco Scarcello

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Bertolucci, R., Capitanelli, A., Maratea, M., Mastrogiovanni, F., Vallati, M. (2019). Automated Planning Encodings for the Manipulation of Articulated Objects in 3D with Gravity. In: Alviano, M., Greco, G., Scarcello, F. (eds) AI*IA 2019 – Advances in Artificial Intelligence. AI*IA 2019. Lecture Notes in Computer Science(), vol 11946. Springer, Cham. https://doi.org/10.1007/978-3-030-35166-3_10

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-35166-3_10

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-35165-6

  • Online ISBN: 978-3-030-35166-3

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation