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Classifying Compliant Manipulation Tasks for Automated Planning in Robotics

Leidner, Daniel and Borst, Christoph and Dietrich, Alexander and Beetz, Michael and 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), 28 Sep - 02 Oct 2015, Hamburg, Germany.

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Official URL: http://www.iros2015.org/

Abstract

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.

Item URL in elib:https://elib.dlr.de/98307/
Document Type:Conference or Workshop Item (Lecture)
Title:Classifying Compliant Manipulation Tasks for Automated Planning in Robotics
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Leidner, DanielDaniel.Leidner (at) dlr.deUNSPECIFIED
Borst, ChristophChristoph.Borst (at) dlr.deUNSPECIFIED
Dietrich, AlexanderAlexander.Dietrich (at) dlr.deUNSPECIFIED
Beetz, Michaelbeetz (at) cs.uni-bremen.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schäffer (at) dlr.deUNSPECIFIED
Date:29 September 2015
Journal or Publication Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:Yes
Status:Published
Keywords:Automated Planning, Robotics, Compliant Manipulation
Event Title:IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Event Location:Hamburg, Germany
Event Type:international Conference
Event Dates:28 Sep - 02 Oct 2015
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)
Deposited By: Leidner, Daniel
Deposited On:06 Oct 2015 14:33
Last Modified:31 Jul 2019 19:55

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