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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), 2013-11-07, 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/ | ||||||||||||
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| 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: |
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| 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 Date: | 7 November 2013 | ||||||||||||
| 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) > Autonomy and Teleoperation | ||||||||||||
| Deposited By: | Leidner, Dr.-Ing. Daniel | ||||||||||||
| Deposited On: | 20 Oct 2014 14:12 | ||||||||||||
| Last Modified: | 24 Apr 2024 19:54 |
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