Knowledge Representations for Planning Manipulation Tasks
Zacharias, Franziska
Produktnummer:
184a3f1d8d29f048e99cc97aeeb8f12650
| Autor: | Zacharias, Franziska |
|---|---|
| Themengebiete: | Human Like Motion Humanoid Robots Knowledge Representations Planning Manipulation Tasks |
| Veröffentlichungsdatum: | 13.01.2012 |
| EAN: | 9783642251818 |
| Sprache: | Englisch |
| Seitenzahl: | 148 |
| Produktart: | Gebunden |
| Verlag: | Springer Berlin |
Produktinformationen "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 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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