HANDEY: A Robot Task Planner (1986 - 1992)

Tomas Lozano-Perez, Joseph L. Jones, Emmanuel Mazer, Patrick A. O'Donnell
MIT Artificial Intelligence Laboratory

Videos

• 1987 - depth map recognition, grasping, regrasping and placing: MOV format, 2X speed, 9MB
• 1989 - full narration: 4 examples + algorithm descriptions MOV format, 80MB
• 1989 - narrated example 1 (L blocks) MOV format, 10MB
• 1989 - narrated example 2 (L blocks, regrasping) MOV format, 40MB
• 1989 - narrated example 3 (motors) MOV format, 50MB
• 1989 - narrated example 4 (open door) MOV format, 12MB

Book (1992)

• Lozano-Perez, T., J.L. Jones, E. Mazer, and P.A. O'Donnell, HANDEY: A Robot Task Planner, M.I.T. Press, Cambridge, MA, 1992 PDF for complete book

Other Publications (1987 - 1991)

• Lozano-Perez, T., Jones, J. L., Mazer, E., O'Donnell, P. A., Grimson, W. E. L., Tournassoud, P., and Lanusse, A. HANDEY: A Robot System that Recognizes, Plans, and Manipulates, Proceedings of 1987 IEEE International Conference on Robotics and Automation, Raleigh, NC, March 1987, pp.843-849. PDF
• Tournassoud, P., Lozano-Perez, T. and Mazer, E. Regrasping, Proceedings of 1987 IEEE International Conference on Robotics and Automation, Raleigh, NC, March 1987, pp.1924--1928. PDF
• Mazer, E. and Lozano-Perez, T. The structure of an interpreter for task-level robot programs, Proceedings of 1987 Third International Conference on Advanced Robots, Versailles, France, October 1987, pp.399--410.
• O'Donnell, Patrick A. and Lozano-Perez, Tomas. Deadlock-Free and Collision-Free Coordination of Two Robot Manipulators, IEEE Robotics and Automation Conference, Scottsdale, Arizona, May 1989, pp.484--489. PDF
• Lozano-Perez, T., Jones, Joseph, Mazer, Emmanuel, and O'Donnell, Patrick A. Task-Level Planning of Pick-and-Place Robot Motions, IEEE Computer, Volume 22, Number 3, March 1989, pp.21--29. PDF
• Jones, Joseph L. and Lozano-Perez, Tomas. Planning Two-Fingered Grasps for Pick-and-Place Operations on Polyhedra, IEEE International Conference on Robotics and Automation, Cincinnati, Ohio, May 1990, pp.683--687. PDF
• Lozano-Perez, Tomas and O'Donnell, Patrick A. Parallel Robot Motion Planning, IEEE International Conference on Robotics and Automation, Sacramento, California, April 1991, pp.1000--1007. PDF