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
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|
|Number of Pages:||154|
|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)|
|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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