Abstract
In manipulation planning, dynamic interactions between the objects and the robots play a significant role. In this scope, dynamic engines allow to consider them within motion planners, giving rise to physics-based motion planners that consider the purposeful manipulation of objects. In this context, the representation of knowledge regarding how the objects have to be manipulated eases a semantic-based reasoning that reduces the computational cost of physics-based planners. In this work, an ontology framework is proposed to organize the knowledge needed for physics-based manipulation planning, allowing to derive manipulation regions and behaviors. A semantic map is constructed to categorize and assign the manipulation constraints based on the robot, the objects and the type of actions. The ontology framework can be queried using Description Language to obtain the necessary knowledge for the robot to manipulate the objects in its environment.
Keywords
- Physically-based Manipulation
- Ontological Framework
- Manipulation Planning
- Constraint Manipulation
- Pushable Object
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
J. Rosell—This work was partially supported by the Spanish Government through the projects DPI2013-40882-P and DPI2016-80077-R.
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Diab, M., Muhayyuddin, Akbari, A., Rosell, J. (2018). An Ontology Framework for Physics-Based Manipulation Planning. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_37
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DOI: https://doi.org/10.1007/978-3-319-70833-1_37
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