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| blog:modeling_and_generating_constraint-based_movement_descriptions [2014/05/27 13:26] – admin | blog:modeling_and_generating_constraint-based_movement_descriptions [2014/06/05 11:38] (current) – external edit 127.0.0.1 |
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| In many cases, the success of a manipulation action performed by a robot is determined by //how// it is executed and by how the robot moves during the action. Examples are tasks such as unscrewing a bolt, pouring liquids and flipping a pancake. This aspect is often abstracted away in AI planning and action languages that assume that an action is successful as long as all preconditions are fulfilled. In a {{:bib:tenorth14motiontemplates.pdf|paper}} that will be presented at the European Conference on Artificial Intelligence, we investigate how constraint-based motion representations used in robot control can be combined with a semantic knowledge base in order to let a robot reason about movements and to automatically generate executable motion descriptions that can be adapted to different robots, objects and tools. | In many cases, the success of a manipulation action performed by a robot is determined by //how// it is executed and by how the robot moves during the action. Examples are tasks such as unscrewing a bolt, pouring liquids and flipping a pancake. This aspect is often abstracted away in AI planning and action languages that assume that an action is successful as long as all preconditions are fulfilled. In a {{:bib:tenorth14motiontemplates.pdf|paper}} that will be presented at the European Conference on Artificial Intelligence, we investigate how constraint-based motion representations used in robot control can be combined with a semantic knowledge base in order to let a robot reason about movements and to automatically generate executable motion descriptions that can be adapted to different robots, objects and tools. |
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| The system uses KnowRob as knowledge base for representing and reasoning about the [[doc/motion_constraints|motion descriptions]] and for [[doc/mesh_reasoning|analyzing geometric object models]]. The execution components have been implemented as part of the [[http://www.cram-system.org/|CRAM robot control framework]]. | The system uses KnowRob as knowledge base for representing and reasoning about the [[http://knowrob.org/doc/motion_constraints|motion descriptions]] and for [[http://knowrob.org/doc/mesh_reasoning|analyzing geometric object models]]. The execution components have been implemented as part of the [[http://www.cram-system.org/|CRAM robot control framework]]. |
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