Authors:
- Latest research on Knowledge Representations for Planning Manipulation Tasks
- Presents manipulation tasks for a humanoid robot
- Written by a leading expert in the field
Part of the book series: Cognitive Systems Monographs (COSMOS, volume 16)
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Table of contents (7 chapters)
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Front Matter
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Back Matter
About this book
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.   Â
Authors and Affiliations
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, Institute of Robotics and Mechatronics, DLR German Aerospace Center, Wessling, Germany
Franziska Zacharias
Bibliographic Information
Book Title: Knowledge Representations for Planning Manipulation Tasks
Authors: Franziska Zacharias
Series Title: Cognitive Systems Monographs
DOI: https://doi.org/10.1007/978-3-642-25182-5
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag GmbH Berlin Heidelberg 2012
Hardcover ISBN: 978-3-642-25181-8Published: 13 January 2012
Softcover ISBN: 978-3-662-50873-2Published: 23 August 2016
eBook ISBN: 978-3-642-25182-5Published: 12 January 2012
Series ISSN: 1867-4925
Series E-ISSN: 1867-4933
Edition Number: 1
Number of Pages: XII, 148
Number of Illustrations: 15 b/w illustrations, 6 illustrations in colour
Topics: Robotics and Automation, Computational Intelligence, Artificial Intelligence, User Interfaces and Human Computer Interaction