【摘要】 本文给出一个基于分层推理的机器人抓取规划系统 KBGS.该系统把对象的知识分成经验知识和精确知识两个层次,并首先使用经验知识进行抓取方案的规划,一旦输出一个适合于环境和任务的用符号形式描述的抓取方案,就使用对象的精确知识进行具体的抓取参数的推理.更多还原

【Abstract】 This paper pesents a robot grasping planning system based on the hierarchical reasoning—KBGS.The sys-tem divides the object knowledge into two levels:coarse knowledge and fine knowledge.First the KBGS car-ries out the grasping scheme planning on the basis of the coarse knowledge,the planning result is a symbolicgrasping scheme for the environment and task.Then based on this scheme,fine grasping parameters are rea-soned using the fine knowledge of objects.更多还原