Learning Symbolic Failure Detection for Grasping and Mobile Manipulation Tasks
Patrick Hegemann,Tim Zechmeister,Markus Grotz,Kevin Hitzler,Tamim Asfour,Patrick Hegemann,Tim Zechmeister,Markus Grotz,Kevin Hitzler,Tamim Asfour
The ability to detect failure during task execution and to recover from failure is vital for autonomous robots performing tasks in previously unknown environments. In this paper, we present an approach for failure detection during the execution of grasping and mobile manipulation tasks by a humanoid robot. The approach combines multi-modal sensory information consisting of proprioceptive, force an...
