Knowledge Representations for Planning Manipulation Tasks - Zacharias, Franziska

Franziska Zacharias 

Knowledge Representations for Planning Manipulation Tasks

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Knowledge Representations for Planning Manipulation Tasks

This book introduces the capability map, a novel general representation of the kinematic capabilities of a robot arm. The coverage includes examples from several distinct application domains, including a bi-manual interface for tele-operation and more.

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.

Produktinformation
  • Verlag: Springer, Berlin
  • 2012
  • Ausstattung/Bilder: 2012. 160 S. 235 mm
  • Seitenzahl: 143
  • Cognitive Systems Monographs .16
  • Best.Nr. des Verlages: 80119409
  • Englisch
  • Abmessung: 245mm x 164mm x 17mm
  • Gewicht: 377g
  • ISBN-13: 9783642251818
  • ISBN-10: 3642251811
  • Best.Nr.: 34221178

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Inhaltsangabe

Introduction.- Review of the Literature.- Robot performance indices.- Modeling the robot workspace.- Visualization and setup evaluation.- Application in planning.- Conclusion and Outlook.
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