Warning: This pages are still under construction.
Manipulation can be involved enough so as to require planning at a high symbolic level. Converting the sequence of abstract tasks to an executable sequence of motion commands means to establish a correspondence between tasks and their geometric instantiation in form of specific trajectories and grasping actions. In the document below some works on this subject are reviewed, grouped into rule-based approaches, object representations with semantic information about their use, and parameterized languages.
Bridging the Gap between Geometric and Task Level Manipulation Planning.pdf
Last modified on wednesday, 12 March, 2008