---
title: "Planning Robot Control Parameter Values with Qualitative Reasoning"
authors:
  - "Stephen F. Peters"
  - "Shigeoki Hirai"
  - "Toru Omata"
  - "Tomomasa Sato"
doi: ""
url: "https://ijcai.org/proceedings/1991/182"
pdf: "https://ijcai.org/proceedings/1991/0182.pdf"
venue: "Proceedings of the Twelfth International Joint Conference on Artificial Intelligence"
year: 1991
pages: "1234-1239"
track: "Robotics"
keywords:
---

# Planning Robot Control Parameter Values with Qualitative Reasoning

Stephen F. Peters, Shigeoki Hirai, Toru Omata, Tomomasa Sato

*Proceedings of the Twelfth International Joint Conference on Artificial Intelligence*, pages 1234-1239.

## Abstract

A qualitative reasoning planner for determining robot control parameters to drive manipulation actions has been developed, integrated into a telerobot system, and demonstrated for a match striking task. The planner consists of a qualitative reasoner and a numerical execution history which interact to jointly direct and narrow the search for reliable numerical control parameter values. The planner algorithm, implementation, and an execution example are described . The relationship to previous qualitative reasoning work is also discussed.