抄録
In recent years, robots have played an important role in various places, including factories of the manufacturing industry as well as homes where people live. The number of robotic tasks with a high degree of difficulty is increasing because they are required to perform various types of tasks, and failures are likely to occur. Therefore, there is a growing demand for error recovery techniques. We propose an error recovery method that considers task stratification and error classification. This allows various error-recovery paths to be derived for a single error. In this study, recovery paths were classified into several patterns to facilitate selection of the optimal path.
https://ror.org/01pkeax38 
