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Type of publication: research article
Type of publication (PDB): Straipsnis konferencijos medžiagoje Clarivate Analytics Web of Science ar/ir Scopus / Article in Clarivate Analytics Web of Science or Scopus DB conference proceedings (P1a)
Field of Science: Informatika / Informatics (N009)
Author(s): Aein, Mohamad Javad;Aksoy, Eren Erdal;Tamošiūnaitė, Minija;Papon, Jeremie;Ude, Aleš;Wörgötter, Florentin
Title: Toward a library of manipulation actions based on semantic object-action relations
Is part of: IEEE/RSJ : Intelligent robots and systems : international conference, November 3-8, 2013, Tokyo Big Sight, Japan. New York : IEEE press, 2013
Extent: p. 4555-4562
Date: 2013
Note: ISSN : 2153-0858
Keywords: Veiksmų biblioteka;Manipuliacijų veiksmai;Robotinės sistemos;Action library;Manipulation actions;Robotic systems
ISBN: 9781467363570
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 toplevel 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
Affiliation(s): Sistemų analizės katedra
Vytauto Didžiojo universitetas
Appears in Collections:Universiteto mokslo publikacijos / University Research Publications

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