Development of a Task Planning System Rebuildable About a Motion Corresponding to Transition of Houseworks for a Modular Home Robot

Abstract

A customer wants a home robot to work a number of chores. In the previous study, a robot achieved chores by executing sequentially. If chores have a job of a home appliance, a robot must wait to finish it. This wait is repeated when a robot executes the chores sequentially. As a result, a behavior of a robot become inefficient. A robot must work efficiently by executing chores parallel. Therefore, we develop a software system to rebuild the chores to one of a new chore. The system can shorten working time of our supposing chores.