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Knowledge Representations for Planning Manipulation Tasks [electronic resource] /by Franziska Zacharias.

by Zacharias, Franziska [author.]; SpringerLink (Online service).
Material type: materialTypeLabelBookSeries: Cognitive Systems Monographs: 16Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2012.Description: XII, 148p. 85 illus., 77 illus. in color. online resource.ISBN: 9783642251825.Subject(s): Engineering | Computer science | Artificial intelligence | Engineering | Robotics and Automation | Computational Intelligence | Artificial Intelligence (incl. Robotics) | User Interfaces and Human Computer InteractionDDC classification: 629.892 Online resources: Click here to access online
Contents:
Review of the Literature -- Robot performance indices -- Modeling the robot workspace -- Visualization and setup evaluation -- Application in planning.
In: Springer eBooksSummary: 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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Review of the Literature -- Robot performance indices -- Modeling the robot workspace -- Visualization and setup evaluation -- Application in planning.

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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