Dang-Vu, Bao-Anh and Porges, Oliver and Roa, Maximo A. (2016) Interpreting Manipulation Actions: from Language to Execution. In: Robot 2015: Second Iberian Robotics Conference Advances in Intelligent Systems and Computing, 417. Springer. pp. 175-187. doi: 10.1007/978-3-319-27146-0_14. ISBN 978-3-319-27146-0. (In Press)
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Official URL: http://www.springerprofessional.de/014---interpreting-manipulation-actions253a-from-language-to-execution/6058592.html
Abstract
Processing natural language instructions for execution of robotic tasks has been regarded as a means to make more intuitive the interaction with robots. This paper is focused on the applications of natural language processing in manipulation, specifically on the problem of recovering from the instruction the information missing for the manipulation planning, which has been traditionally assumed to be available for instance via pre-computed grasps or pre-labeled objects. The proposed approach includes a clustering process that discriminates areas on the object that can be used for different types of tasks (therefore providing valuable information for the grasp planning process), the extraction and consideration of task information and grasp constraints for solving the manipulation problem, and the use of an integrated grasp and motion planning that avoids relying on a predefined grasp database.
Item URL in elib: | https://elib.dlr.de/101282/ | ||||||||||||||||||
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Document Type: | Book Section | ||||||||||||||||||
Title: | Interpreting Manipulation Actions: from Language to Execution | ||||||||||||||||||
Authors: |
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Date: | 2016 | ||||||||||||||||||
Journal or Publication Title: | Robot 2015: Second Iberian Robotics Conference | ||||||||||||||||||
Refereed publication: | Yes | ||||||||||||||||||
Open Access: | Yes | ||||||||||||||||||
Gold Open Access: | No | ||||||||||||||||||
In SCOPUS: | No | ||||||||||||||||||
In ISI Web of Science: | No | ||||||||||||||||||
Volume: | 417 | ||||||||||||||||||
DOI : | 10.1007/978-3-319-27146-0_14 | ||||||||||||||||||
Page Range: | pp. 175-187 | ||||||||||||||||||
Editors: |
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Publisher: | Springer | ||||||||||||||||||
Series Name: | Advances in Intelligent Systems and Computing | ||||||||||||||||||
ISBN: | 978-3-319-27146-0 | ||||||||||||||||||
Status: | In Press | ||||||||||||||||||
Keywords: | manipulation, grasp planning, natural language processing | ||||||||||||||||||
HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||||||||
HGF - Program: | Space | ||||||||||||||||||
HGF - Program Themes: | Space System Technology | ||||||||||||||||||
DLR - Research area: | Raumfahrt | ||||||||||||||||||
DLR - Program: | R SY - Space System Technology | ||||||||||||||||||
DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | ||||||||||||||||||
Location: | Oberpfaffenhofen | ||||||||||||||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | ||||||||||||||||||
Deposited By: | Roa Garzon, Dr. Máximo Alejandro | ||||||||||||||||||
Deposited On: | 17 Dec 2015 13:53 | ||||||||||||||||||
Last Modified: | 31 Jul 2019 19:58 |
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