Knowledge Representations for Planning Manipulation Tasks

✍ Scribed by Franziska Zacharias (auth.)

• Publisher: Springer-Verlag Berlin Heidelberg
• Year: 2012
• Tongue: English
• Leaves: 149
• Series: Cognitive Systems Monographs 16
• Edition: 1
• Category: Library

✦ Synopsis

In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.

✦ Table of Contents

Front Matter....Pages 1-9
Introduction....Pages 1-6
Review of the Literature....Pages 7-26
Robot Performance Indices....Pages 27-35
Modeling the Robot Workspace....Pages 37-69
Visualization and Setup Evaluation....Pages 71-92
Application in Planning....Pages 93-123
Conclusion and Outlook....Pages 127-129
Back Matter....Pages 1-16

✦ Subjects

Robotics and Automation; Computational Intelligence; Artificial Intelligence (incl. Robotics); User Interfaces and Human Computer Interaction