Knowledge representations for planning manipulation tasks
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 mach...
| Main Author: | Zacharias, Franziska. |
|---|---|
| Other Authors: | SpringerLink (Online service) |
| Format: | eBook |
| Language: | English |
| Published: |
Berlin ; New York :
Springer,
©2012.
Berlin ; New York : [2012] |
| Physical Description: |
1 online resource (xi, 143 pages) : color illustrations. |
| Series: |
Cognitive systems monographs ;
v. 16. |
| Subjects: |
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| 245 | 1 | 0 | |a Knowledge representations for planning manipulation tasks / |c Franziska Zacharias. |
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| 264 | 1 | |a Berlin ; |a New York : |b Springer, |c [2012] | |
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| 505 | 0 | 0 | |t Introduction -- |t Review of the Literature -- |t Robot Performance Indices -- |t Modeling the Robot Workspace -- |t Visualization and Setup Evaluation -- |t Application in Planning -- |t Conclusion and Outlook. |
| 504 | |a Includes bibliographical references. | ||
| 520 | |a 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. | ||
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| 650 | 6 | |a Représentation des connaissances. | |
| 650 | 6 | |a Robots |x Systèmes de commande. | |
| 650 | 6 | |a Ingénierie. | |
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