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Interpreting Manipulation Actions: from Language to Execution

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. 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/
Document Type:Book Section
Title:Interpreting Manipulation Actions: from Language to Execution
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Dang-Vu, Bao-AnhBao-Anh.Dang-Vu (at) dlr.deUNSPECIFIED
Porges, Oliveroliver.porges (at) dlr.deUNSPECIFIED
Roa, Maximo A.maximo.roa (at) dlr.deUNSPECIFIED
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:
EditorsEmail
Reis, LuisUNSPECIFIED
Moreira, AntonioUNSPECIFIED
Lima, PedroUNSPECIFIED
Montano, LuisUNSPECIFIED
Muñoz-Martinez, VictorUNSPECIFIED
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
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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