Knowledge Representations for Planning Manipulation Tasks
(Sprache: Englisch)
This book introduces the capability map, a novel general representation of the kinematic capabilities of a robot arm. The coverage includes examples from several distinct application domains, including a bi-manual interface for tele-operation and more.
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This book introduces the capability map, a novel general representation of the kinematic capabilities of a robot arm. The coverage includes examples from several distinct application domains, including a bi-manual interface for tele-operation and more.
Klappentext zu „Knowledge Representations for Planning Manipulation Tasks “
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.
Inhaltsverzeichnis zu „Knowledge Representations for Planning Manipulation Tasks “
Introduction.- Review of the Literature.- Robot performance indices.- Modeling the robot workspace.- Visualization and setup evaluation.- Application in planning.- Conclusion and Outlook.
Bibliographische Angaben
- Autor: Franziska Zacharias
- 2012, 2012, XII, 148 Seiten, 6 farbige Abbildungen, Maße: 16 x 24,1 cm, Gebunden, Englisch
- Verlag: Springer, Berlin
- ISBN-10: 3642251811
- ISBN-13: 9783642251818
- Erscheinungsdatum: 13.01.2012
Sprache:
Englisch
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