ロボット調理のための知識検索
Knowledge Retrieval for Robotic Cooking
機能的对象指向ネットワーク(FOON)に重み付けを導入し、ロボットがレシピや食材を検索して人間と協調しながら複雑な調理作業を高い成功率で遂行できるタスク計画アルゴリズムを提案した。
分類: cs.RO, cs.AI
原文アブストラクト
Search algorithms are applied where data retrieval with specified specifications is required. The motivation behind developing search algorithms in Functional Object-Oriented Networks is that most of the time, a certain recipe needs to be retrieved or ingredients for a certain recipe needs to be determined. According to the introduction, there is a time when execution of an entire recipe is not available for a robot thus prompting the need to retrieve a certain recipe or ingredients. With a quality FOON, robots can decipher a task goal, find the correct objects at the required states on which to operate and output a sequence of proper manipulation motions. This paper shows several proposed weighted FOON and task planning algorithms that allow a robot and a human to successfully complete complicated tasks together with higher success rates than a human doing them alone.