Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks.
Matthias MayrFaseeh AhmadAlexander DürrVolker KrügerPublished in: CASE (2023)
Keyphrases
- knowledge representation
- multiple robots
- autonomous robots
- skill learning
- mobile robot
- motion planning
- navigation tasks
- manipulation tasks
- robotic systems
- goal directed
- service robots
- description logics
- path planning
- robotic tasks
- visually guided
- semantic web
- robot navigation
- planning tasks
- multi robot
- robot arm
- real time
- robot control
- knowledge structures
- humanoid robot
- knowledge based systems
- action selection
- high level
- knowledge base
- artificial intelligence
- planning systems
- unstructured environments
- action selection mechanism
- robot manipulators
- world model
- formal representation
- past experience
- real robot
- human operators
- knowledge engineering
- planning problems
- degrees of freedom
- vision system
- expert systems
- natural language
- real world