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Knowledge Representations for Planning Manipulation Tasks

Name: Knowledge Representations for Planning Manipulation Tasks
Brand: Springer-Verlag Berlin and Heidelberg GmbH & Co. KG
SKU: 01659214
Price: 107.29 EUR
Availability: InStock
Author: Franziska Zacharias
ISBN: 9783642251818

Franziska Zacharias

Language

English

Book Hardback

Libristo code: 01659214

Publishers Springer-Verlag Berlin and Heidelberg GmbH & Co. KG, January 2012

In this book, the capability map, a novel general representation of the kinematic capabilities of a... Full description

Libristo code: 01659214

263 b

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In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.