Publication
Execution of a dual-object (pushing) action with semantic event chains
Conference Article
Conference
IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS)
Edition
11th
Pages
576-583
Doc link
http://dx.doi.org/10.1109/Humanoids.2011.6100833
File
Authors
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Aksoy, Eren Erdal
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Dellen, Babette
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Tamosiunaite, Minija
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Wörgötter, Florentin
Projects associated
Abstract
Execution of a manipulation after learning from demonstration many times requires intricate planning and control systems or some form of manual guidance for a robot. Here we present a framework for manipulation execution based on the so called “Semantic Event Chain” which is an abstract description of relations between the objects in the scene. It captures the change of those relations during a manipulation and thereby provides the decisive temporal anchor points by which a manipulation is critically defined. Using semantic event chains a model of a manipulation can be learned. We will show that it is possible to add the required control parameters (the spatial anchor points) to this model, which can then be executed by a robot in a fully autonomous way. The process of learning and execution of semantic event chains is explained using a box pushing example.
Categories
cybernetics, pattern recognition.
Scientific reference
E.E. Aksoy, B. Dellen, M. Tamosiunaite and F. Wörgötter. Execution of a dual-object (pushing) action with semantic event chains, 11th IEEE-RAS International Conference on Humanoid Robots, 2011, Bled, Slovenia, pp. 576-583, IEEE Press.
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