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Things Are Made for What They Are: Solving Manipulation Tasks by Using Functional Object Classes

Leidner, Daniel and Borst, Christoph and Hirzinger, Gerd (2012) Things Are Made for What They Are: Solving Manipulation Tasks by Using Functional Object Classes. International Conference on Humanoid Robots (HUMANOIDS), 29. Nov. - 1. Dez. 2012, Osaka, Japan.



Solving arbitrary manipulation tasks is a key feature for humanoid service robots. However, especially when tasks involve handling complex mechanisms or using tools, a generic action description is hard to define. Different objects require different handling methods. Therefore, we try to solve manipulation tasks from point of view of the object, rather than in the context of the robot. Action templates within the object context are introduced to resolve object specific task constraints. As part of a centralized world representation, the action templates are integrated into the planning process. This results in an intuitive way of solving manipulation tasks. The underlying architecture as well as the mechanisms are discussed within this paper. The proposed methods are evaluated in two experiments.

Item URL in elib:https://elib.dlr.de/80508/
Document Type:Conference or Workshop Item (Paper, Poster)
Title:Things Are Made for What They Are: Solving Manipulation Tasks by Using Functional Object Classes
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Leidner, Danieldaniel.leidner (at) dlr.deUNSPECIFIED
Borst, Christophchristoph.borst (at) dlr.deUNSPECIFIED
Hirzinger, Gerdgerd.hirzinger (at) dlr.deUNSPECIFIED
Date:June 2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:No
Keywords:humanoid service robots, manipulation, task planning, motion planning, functional object classes, action templates
Event Title:International Conference on Humanoid Robots (HUMANOIDS)
Event Location:Osaka, Japan
Event Type:international Conference
Event Dates:29. Nov. - 1. Dez. 2012
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 - RMC - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Leidner, Daniel
Deposited On:11 Jan 2013 14:29
Last Modified:31 Jul 2019 19:39

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