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Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores

Leidner, Daniel and Bejjani, Wissam and Albu-Schäffer, Alin and Beetz, Michael (2016) Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores. In: AUTONOMOUS AGENTS AND MULTI-AGENT SYSTEMS. International Conference on Autonomous Agents and Multiagent Systems (AAMAS), 9-13 May 2016, Singapore.

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Official URL: http://sis.smu.edu.sg/aamas2016


Universal robotic agents are envisaged to perform a wide range of manipulation tasks in everyday environments. A common action observed in many household chores is wiping, such as the absorption of spilled water with a sponge, skimming breadcrumbs off the dining table, or collecting shards of a broken mug using a broom. To cope with this versatility, the agents have to represent the tasks on a high level of abstraction. In this work, we propose to represent the medium in wiping tasks (e.g. water, breadcrumbs, or shards) as generic particle distribution. This representation enables us to represent wiping tasks as the desired state change of the particles, which allows the agent to reason about the effects of wiping motions in a qualitative manner. Based on this, we develop three prototypical wiping actions for the generic tasks of absorbing, collecting and skimming. The Cartesian wiping motions are resolved to joint motions exploiting the free degree of freedom of the involved tool. Furthermore, the workspace of the robotic manipulators is used to reason about the reachability of wiping motions. We evaluate our methods in simulated scenarios, as well as in a real experiment with the robotic agent Rollin' Justin.

Item URL in elib:https://elib.dlr.de/103272/
Document Type:Conference or Workshop Item (Lecture)
Title:Robotic Agents Representing, Reasoning, and Executing Wiping Tasks for Daily Household Chores
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Leidner, Danieldaniel.leidner (at) dlr.deUNSPECIFIED
Bejjani, Wissamwissam.bejjani (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.deUNSPECIFIED
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:AI Reasoning Methods, Task and Effect Representation, Robotic Manipulation Planning, Service Robotics
Event Title:International Conference on Autonomous Agents and Multiagent Systems (AAMAS)
Event Location:Singapore
Event Type:international Conference
Event Dates:9-13 May 2016
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)
Deposited By: Leidner, Daniel
Deposited On:03 Mar 2016 10:07
Last Modified:31 Jul 2019 20:00

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