The University of Edinburgh -
Division of Informatics
Forrest Hill & 80 South Bridge

Research Paper #899

Title:The SOMASS System: a Hybrid Symbolic and Behaviour-based System to Plan and Execute Assemblies by Robot
Date:Jun 1998
Abstract:The SOMASS system consists of a classical symbolic hierarchical planner which plans assemblies of SOMA parts to be performed by a robot controlled by a behaviour-based plan executioin agent. SOMA parts consist of simple bent and forked bricks which simplify the geometry while preserving the shape-dependent part-fitting and part-ordering characteristics of the assembly problem. The hybrid architecture both simplifies the planner and ensures reliable execution of the plans.

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