Paper Info
Title
Declarative specification of task-based grasping with constraint validation
Abstract
Grasping objects and using them in a task-oriented manner is challenging for a robot. It requires an understanding of the object, the robot's capabilities, and the task to be executed. We argue that an explicit representation of these domains increases reusability and robustness of the resulting system. We present the declarative Grasp Domain Definition Language (GDDL) which enables the explicit grasp-planner-independent specification of grasping problems. The formal model underlying GDDL enables the definition of formal constraints that are validated during design time and run time. Our approach has been realized on two real robots.
Year
DOI
Venue
2014
10.1109/IROS.2014.6942669
IROS
Keywords
Field
DocType
formal constraints,constraint validation,object grasping,robot capability,control engineering computing,grasp-planner-independent specification,gddl,declarative specification,robot tasks,manipulators,task-based grasping,grasp domain definition language,formal specification,semantics,robots,unified modeling language,kinematics
GRASP,Programming language,Kinematics,Unified Modeling Language,Computer science,Load modeling,Robustness (computer science),Artificial intelligence,Robot,Reusability,Semantics
Conference
ISSN
Citations 
PageRank 
2153-0858
1
0.37
References 
Authors
14
3
Name
Order
Citations
PageRank
Sven Schneider1173.05
Nico Hochgeschwender212615.75
Gerhard K. Kraetzschmar347465.88