ロボット調理のためのタスクトゥリー検索
Task Tree Retrieval For Robotic Cooking
料理レシピを目標ノードとして、FOONと呼ばれる知識表現から機能単位を検索し、ロボットが調理手順を実行するためのタスクトゥリーを生成するアルゴリズムを開発した。
分類: cs.RO, cs.AI
原文アブストラクト
This paper is based on developing different algorithms, which generate the task tree planning for the given goal node(recipe). The knowledge representation of the dishes is called FOON. It contains the different objects and their between them with respective to the motion node The graphical representation of FOON is made by noticing the change in the state of an object with respect to the human manipulators. We will explore how the FOON is created for different recipes by the robots. Task planning contains difficulties in exploring unknown problems, as its knowledge is limited to the FOON. To get the task tree planning for a given recipe, the robot will retrieve the information of different functional units from the knowledge retrieval process called FOON. Thus the generated subgraphs will allow the robot to cook the required dish. Thus the robot can able to cook the given recipe by following the sequence of instructions.