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Hybrid Reasoning for Mobile Manipulation based on Object Knowledge

Leidner, Daniel and Borst, Christoph (2013) Hybrid Reasoning for Mobile Manipulation based on Object Knowledge. In: Workshop on AI-based Robotics at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Workshop on AI-based Robotics at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Thursday, November 7th, 2013, Tokyo, Japan.

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Official URL: http://robohow.eu/workshops/ai-based-robotics-iros-2013

Abstract

Autonomous mobile manipulation in every day environments is a key feature for next generation service robots. However, the diversity of problems that need to be solved by a robot is vast. Detailed knowledge about the environment, surrounding objects, and handling instructions is required. In this paper we combine object-centered hybrid reasoning with reachability analysis for autonomous spatial reasoning on mobile manipulation tasks. Object knowledge is used to distinguish the right place and time to move a mobile platform in order to solve a given task. The methods are evaluated in an experiment with the humanoid robot Rollin’ Justin.

Item URL in elib:https://elib.dlr.de/88388/
Document Type:Conference or Workshop Item (Speech)
Additional Information:Presented at IROS 2013 Workshop: AI-based Robotics, Tokyo, Japan, Thursday, November 7th, 2013
Title:Hybrid Reasoning for Mobile Manipulation based on Object Knowledge
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Leidner, Danieldaniel.leidner (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Date:7 November 2013
Journal or Publication Title:Workshop on AI-based Robotics at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:No
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Mobile Manipulation, Hybrid Reasoning, Knowledge, Artificial Intelligence
Event Title:Workshop on AI-based Robotics at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Tokyo, Japan
Event Type:Workshop
Event Dates:Thursday, November 7th, 2013
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: Leidner, Daniel
Deposited On:20 Oct 2014 14:12
Last Modified:31 Jul 2019 19:45

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