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Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation

Leidner, Daniel and Bartels, Georg and Bejjani, Wissam and Albu-Schäffer, Alin and Beetz, Michael (2018) Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation. Robotics and Autonomous Systems. Elsevier. DOI: 10.1016/s0921889018303312 ISSN 0921-8890

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Official URL: https://www.sciencedirect.com/science/article/pii/S0921889018303312?via%3Dihub


Advanced cognitive capabilities enable humans to solve even complex tasks by representing and processing internal models of manipulation actions and their effects. Consequently, humans are able to plan the effect of their motions before execution and validate the performance afterwards. In this work, we derive an analog approach for robotic wiping actions which are fundamental for some of the most frequent household chores including vacuuming the floor, sweeping dust, and cleaning windows. We describe wiping actions and their effects based on a qualitative particle distribution model. This representation enables a robot to plan goal-oriented wiping motions for the prototypical wiping actions of absorbing, collecting and skimming. The particle representation is utilized to simulate the task outcome before execution and infer the real performance afterwards based on haptic perception. This way, the robot is able to estimate the task performance and schedule additional motions if necessary. We evaluate our methods in simulated scenarios, as well as in real experiments with the humanoid service robot Rollin' Justin.

Item URL in elib:https://elib.dlr.de/125266/
Document Type:Article
Title:Cognition-enabled robotic wiping: Representation, planning, execution, and interpretation
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Leidner, Danieldaniel.leidner (at) dlr.dehttps://orcid.org/0000-0001-5091-7122
Bartels, GeorgUniversität BremenUNSPECIFIED
Bejjani, Wissamwissam.bejjani (at) dlr.deUNSPECIFIED
Albu-Schäffer, Alinalin.albu-schaeffer (at) dlr.dehttps://orcid.org/0000-0001-5343-9074
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Date:December 2018
Journal or Publication Title:Robotics and Autonomous Systems
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:Yes
DOI :10.1016/s0921889018303312
Keywords:AI reasoning methods Action and effect representation Compliant manipulation Service robotics
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 Intelligente Mobilität
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Cognitive Robotics
Deposited By: Leidner, Daniel
Deposited On:20 Dec 2018 10:00
Last Modified:06 Sep 2019 15:18

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