Leidner, Daniel und Borst, Christoph und Dietrich, Alexander und Beetz, Michael und Albu-Schäffer, Alin (2015) Classifying Compliant Manipulation Tasks for Automated Planning in Robotics. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015-09-28 - 2015-10-02, Hamburg, Germany. doi: 10.1109/iros.2015.7353607.
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Offizielle URL: http://www.iros2015.org/
Kurzfassung
Many household chores and industrial manufacturing tasks require a certain compliant behavior to make deliberate physical contact with the environment. This compliant behavior can be implemented by modern robotic manipulators. However, in order to plan the task execution, a robot requires generic process models of these tasks which can be adapted to different domains and varying environmental conditions. In this work we propose a classification of compliant manipulation tasks meeting these requirements, to derive related actions for automated planning. We also present a classification for the sub-category of wiping tasks, which are most common and of great importance in service robotics. We categorize actions from an object-centric perspective to make them independent of any specific robot kinematics. The aim of the proposed taxonomy is to guide robotic programmers to develop generic actions for any kind of robotic systems in arbitrary domains.
elib-URL des Eintrags: | https://elib.dlr.de/98307/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vorlesung) | ||||||||||||||||||||||||
Titel: | Classifying Compliant Manipulation Tasks for Automated Planning in Robotics | ||||||||||||||||||||||||
Autoren: |
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Datum: | 29 September 2015 | ||||||||||||||||||||||||
Erschienen in: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||||||||||
DOI: | 10.1109/iros.2015.7353607 | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | Automated Planning, Robotics, Compliant Manipulation | ||||||||||||||||||||||||
Veranstaltungstitel: | IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||||||
Veranstaltungsort: | Hamburg, Germany | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstaltungsbeginn: | 28 September 2015 | ||||||||||||||||||||||||
Veranstaltungsende: | 2 Oktober 2015 | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [SY] | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||||||
Hinterlegt von: | Leidner, Dr.-Ing. Daniel | ||||||||||||||||||||||||
Hinterlegt am: | 06 Okt 2015 14:33 | ||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 20:03 |
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