Paper Info
Title
Toward A Library Of Manipulation Actions Based On Semantic Object-Action Relations
Abstract
The goal of this study is to provide an architecture for a generic definition of robot manipulation actions. We emphasize that the representation of actions presented here is "procedural". Thus, we will define the structural elements of our action representations as execution protocols. To achieve this, manipulations are defined using three levels. The top-level defines objects, their relations and the actions in an abstract and symbolic way. A mid-level sequencer, with which the action primitives are chained, is used to structure the actual action execution, which is performed via the bottom level. This ( lowest) level collects data from sensors and communicates with the control system of the robot. This method enables robot manipulators to execute the same action in different situations i.e. on different objects with different positions and orientations. In addition, two methods of detecting action failure are provided which are necessary to handle faults in system. To demonstrate the effectiveness of the proposed framework, several different actions are performed on our robotic setup and results are shown. This way we are creating a library of human-like robot actions, which can be used by higher-level task planners to execute more complex tasks.
Year
DOI
Venue
2013
10.1109/IROS.2013.6697011
2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
Keywords
Field
DocType
path planning,humanoid robots
Motion planning,Computer vision,Social robot,Robot control,Architecture,Computer science,Artificial intelligence,Control system,Robot,Robot manipulator,Humanoid robot
Conference
ISSN
Citations 
PageRank 
2153-0858
6
0.51
References 
Authors
15
6
Name
Order
Citations
PageRank
Mohamad Javad Aein1262.40
Eren Erdal Aksoy216211.36
Minija Tamosiunaite321822.43
Jeremie Papon419910.18
Ales Ude589885.11
Florentin Wörgötter61304119.30