PMK—A Knowledge Processing Framework for Autonomous Robotics Perception and Manipulation
Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality...
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| Published in | Sensors (Basel, Switzerland) Vol. 19; no. 5; p. 1166 |
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| Main Authors | , , , |
| Format | Journal Article Publication |
| Language | English |
| Published |
Switzerland
Multidisciplinary Digital Publishing Institute (MDPI)
07.03.2019
MDPI MDPI AG |
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| Online Access | Get full text |
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| Abstract | Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots. |
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| AbstractList | Autonomous indoor service robots are supposed to accomplish tasks, like
serve a cup
, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots. Autonomous indoor service robots are supposed to accomplish tasks, like , which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots. Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots. Peer Reviewed Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots.Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots. Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots. |
| Author | Rosell, Jan Ud Din, Muhayy Akbari, Aliakbar Diab, Mohammed |
| AuthorAffiliation | Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, 08034 Barcelona, Spain; aliakbar.akbari@upc.edu (A.A.); muhayyuddin.gillani@upc.edu (M.U.D.) |
| AuthorAffiliation_xml | – name: Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, 08034 Barcelona, Spain; aliakbar.akbari@upc.edu (A.A.); muhayyuddin.gillani@upc.edu (M.U.D.) |
| Author_xml | – sequence: 1 givenname: Mohammed orcidid: 0000-0002-5743-5190 surname: Diab fullname: Diab, Mohammed – sequence: 2 givenname: Aliakbar orcidid: 0000-0002-5290-9799 surname: Akbari fullname: Akbari, Aliakbar – sequence: 3 givenname: Muhayy orcidid: 0000-0001-6214-1077 surname: Ud Din fullname: Ud Din, Muhayy – sequence: 4 givenname: Jan orcidid: 0000-0003-4854-2370 surname: Rosell fullname: Rosell, Jan |
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| Contributor | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
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| References | Lim (ref_6) 2011; 41 Galindo (ref_14) 2017; 119 ref_13 ref_12 ref_11 Tenorth (ref_3) 2017; 247 ref_18 ref_17 Hoffmann (ref_1) 2001; 14 Lagriffoul (ref_4) 2018; 3 ref_25 ref_24 ref_23 ref_22 Gruber (ref_7) 1995; 43 Muhayyuddin (ref_16) 2017; 91 ref_21 Prestes (ref_8) 2013; 61 ref_20 Muhayyuddin (ref_10) 2018; 3 ref_2 Gemignani (ref_15) 2016; 78 ref_27 ref_26 ref_9 Fiorini (ref_19) 2015; 33 Akbari (ref_5) 2019; 31 |
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| Title | PMK—A Knowledge Processing Framework for Autonomous Robotics Perception and Manipulation |
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