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Knowledge Representations for Planning Manipulation Actions

Zacharias, Franziska (2011) Knowledge Representations for Planning Manipulation Actions. Dissertation, Technische Universität München (TUM).

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Official URL: http://mediatum.ub.tum.de/node?id=1004822

Abstract

In this thesis, 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.

Document Type:Thesis (Dissertation)
Title:Knowledge Representations for Planning Manipulation Actions
Authors:
AuthorsInstitution or Email of Authors
Zacharias, FranziskaRM
Date:2011
Number of Pages:154
Status:Published
Keywords:Knowledge representation, robotic, manipulation
Institution:Technische Universität München (TUM)
Department:Intelligent Autonomous Systems Group
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Franziska Zacharias
Deposited On:06 Oct 2011 11:01
Last Modified:06 Oct 2011 11:01

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