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International Conference on Logic Programming and Nonmonotonic Reasoning

LPNMR 2019: Logic Programming and Nonmonotonic Reasoning pp 32–44Cite as

An ASP-Based Framework for the Manipulation of Articulated Objects Using Dual-Arm Robots

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 11481))

Abstract

The manipulation of articulated objects is of primary importance in robotics, and is one of the most complex robotics tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, that lack of flexibility and portability.

In this paper we present a framework based on Answer Set Programming (ASP) for the automated manipulation of articulated objects in a robot architecture. In particular, ASP is employed for representing the configuration of the articulated object, for checking the consistency of the knowledge base, as well as for generating the sequence of manipulation actions. The framework is validated both in simulation and on the Baxter dual-arm manipulator, showing the applicability of the ASP methodology in this complex application scenario.

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Author information

Authors and Affiliations

  1. DeMaCS, University of Calabria, Rende, Italy

    Riccardo Bertolucci & Nicola Leone

  2. DIBRIS, University of Genova, Genova, Italy

    Alessio Capitanelli, Carmine Dodaro, Marco Maratea & Fulvio Mastrogiovanni

  3. University of Huddersfield, Huddersfield, UK

    Mauro Vallati

Authors
  1. Riccardo Bertolucci
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  2. Alessio Capitanelli
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  3. Carmine Dodaro
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  4. Nicola Leone
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  5. Marco Maratea
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  6. Fulvio Mastrogiovanni
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  7. Mauro Vallati
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Corresponding author

Correspondence to Marco Maratea .

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Editors and Affiliations

  1. Saint Joseph's University, Philadelphia, PA, USA

    Marcello Balduccini

  2. University of Nebraska at Omaha, Omaha, USA

    Yuliya Lierler

  3. TU Wien, Vienna, Austria

    Stefan Woltran

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Bertolucci, R. et al. (2019). An ASP-Based Framework for the Manipulation of Articulated Objects Using Dual-Arm Robots. In: Balduccini, M., Lierler, Y., Woltran, S. (eds) Logic Programming and Nonmonotonic Reasoning. LPNMR 2019. Lecture Notes in Computer Science(), vol 11481. Springer, Cham. https://doi.org/10.1007/978-3-030-20528-7_3

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  • DOI: https://doi.org/10.1007/978-3-030-20528-7_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-20527-0

  • Online ISBN: 978-3-030-20528-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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