Zacharias, Franziska (2011) Knowledge Representations for Planning Manipulation Actions. Dissertation, Technische Universität München (TUM).
Full text not available from this repository.
Official URL: http://mediatum.ub.tum.de/node?id=1004822
Abstract
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.
Item URL in elib: | https://elib.dlr.de/70945/ | ||||||
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Document Type: | Thesis (Dissertation) | ||||||
Title: | Knowledge Representations for Planning Manipulation Actions | ||||||
Authors: |
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Date: | 2011 | ||||||
Open Access: | No | ||||||
Gold Open Access: | No | ||||||
In SCOPUS: | No | ||||||
In ISI Web of Science: | No | ||||||
Number of Pages: | 154 | ||||||
Status: | Published | ||||||
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) | ||||||
Location: | Oberpfaffenhofen | ||||||
Institutes and Institutions: | Institute of Robotics and Mechatronics (until 2012) > Robotic Systems | ||||||
Deposited By: | Zacharias, Franziska | ||||||
Deposited On: | 06 Oct 2011 11:01 | ||||||
Last Modified: | 06 Oct 2011 11:01 |
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