Library of American University of Madaba
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Zacharias, Franziska.
Knowledge Representations for Planning Manipulation Tasks [electronic resource] / by Franziska Zacharias. - XII, 148p. 85 illus., 77 illus. in color. online resource. - Cognitive Systems Monographs, 16 1867-4925 ; .
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.
9783642251825
Engineering.
Computer science.
Artificial intelligence.
Engineering.
Robotics and Automation.
Computational Intelligence.
Artificial Intelligence (incl. Robotics).
User Interfaces and Human Computer Interaction.
629.892
Knowledge Representations for Planning Manipulation Tasks [electronic resource] / by Franziska Zacharias. - XII, 148p. 85 illus., 77 illus. in color. online resource. - Cognitive Systems Monographs, 16 1867-4925 ; .
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.
9783642251825
Engineering.
Computer science.
Artificial intelligence.
Engineering.
Robotics and Automation.
Computational Intelligence.
Artificial Intelligence (incl. Robotics).
User Interfaces and Human Computer Interaction.
629.892