Special Issue on Planning and Intelligent Behavior
ProfessorDepartment of Computer Science and Communication Engineering, Kyushu University6-10-1, Hakozaki, Higashi-ku, Fukuoka 812, Japan
A required function of intelligent robots is autonomous and quick execution of tasks which are difficult for conventional machines. In addition, the intention of human operators must be transmitted precisely and easily to the robots. A variety of R&D is underway in order to realize such requirements. This R&D falls into two categories: (1) R&D on intelligent functions applied for the preparation phase of task execution and (2) that applied for the real time task execution. Motion planning based on geometrical information is a typical function for the task preparation phase which has been studied for the past ten years. Thanks to the rapid progress in computing power, the analysis of real problems has progressed and has permitted the practical application of such planning. Thus, its application to operational use is not far off. R&D on a comprehensive system including the geometric environment modeling, motion planning, and real time task execution is also underway. Intelligent functions necessary for task execution must include a task execution mechanism and a control method which guarantee reliable task execution in the presence of unpredictable errors. The solution to this problem will be realized through the implementation of skillful manipulator motions which utilize various sensors and constraints being complied in the real world, most as key technologies. This special issue has compiled reviews and articles which focus on the above mentioned issues.
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