Knowledge Representations for Planning Manipulation Tasks
Springer Berlin (Verlag)
978-3-642-25181-8 (ISBN)
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.
Introduction.- Review of the Literature.- Robot performance indices.- Modeling the robot workspace.- Visualization and setup evaluation.- Application in planning.- Conclusion and Outlook.
| Erscheint lt. Verlag | 13.1.2012 |
|---|---|
| Reihe/Serie | Cognitive Systems Monographs |
| Zusatzinfo | XII, 148 p. 21 illus., 6 illus. in color. |
| Verlagsort | Berlin |
| Sprache | englisch |
| Maße | 155 x 235 mm |
| Gewicht | 377 g |
| Themenwelt | Informatik ► Software Entwicklung ► User Interfaces (HCI) |
| Informatik ► Theorie / Studium ► Künstliche Intelligenz / Robotik | |
| Technik ► Elektrotechnik / Energietechnik | |
| Technik ► Maschinenbau | |
| Schlagworte | Human Like Motion • humanoid robots • Knowledge Representations • Kognition • Planning Manipulation Tasks |
| ISBN-10 | 3-642-25181-1 / 3642251811 |
| ISBN-13 | 978-3-642-25181-8 / 9783642251818 |
| Zustand | Neuware |
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