Knowledge Representations for Planning Manipulation Tasks

  • Franziska┬áZacharias

Part of the Cognitive Systems Monographs book series (COSMOS, volume 16)

Table of contents

  1. Front Matter
    Pages 1-9
  2. Franziska Zacharias
    Pages 1-6
  3. Franziska Zacharias
    Pages 7-26
  4. Franziska Zacharias
    Pages 27-35
  5. Franziska Zacharias
    Pages 37-69
  6. Franziska Zacharias
    Pages 71-92
  7. Franziska Zacharias
    Pages 93-123
  8. Franziska Zacharias
    Pages 127-129
  9. Back Matter
    Pages 1-16

About this book


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.    


Human Like Motion Humanoid Robots Knowledge Representations Planning Manipulation Tasks

Authors and affiliations

  • Franziska┬áZacharias
    • 1
  1. 1., Institute of Robotics and MechatronicsDLR German Aerospace CenterWesslingGermany

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag GmbH Berlin Heidelberg 2012
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering Engineering (R0)
  • Print ISBN 978-3-642-25181-8
  • Online ISBN 978-3-642-25182-5
  • Series Print ISSN 1867-4925
  • Series Online ISSN 1867-4933
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