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blog:modeling_and_generating_constraint-based_movement_descriptions [2014/05/27 13:26]
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blog:modeling_and_generating_constraint-based_movement_descriptions [2014/06/05 11:38] (current)
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 In many cases, the success of a manipulation action performed by a robot is determined by //how// it is executed and by how the robot moves during the action. Examples are tasks such as unscrewing a bolt, pouring liquids and flipping a pancake. This aspect is often abstracted away in AI planning and action languages that assume that an action is successful as long as all preconditions are fulfilled. In a {{:​bib:​tenorth14motiontemplates.pdf|paper}} that will be presented at the European Conference on Artificial Intelligence,​ we investigate how constraint-based motion representations used in robot control can be combined with a semantic knowledge base in order to let a robot reason about movements and to automatically generate executable motion descriptions that can be adapted to different robots, objects and tools. In many cases, the success of a manipulation action performed by a robot is determined by //how// it is executed and by how the robot moves during the action. Examples are tasks such as unscrewing a bolt, pouring liquids and flipping a pancake. This aspect is often abstracted away in AI planning and action languages that assume that an action is successful as long as all preconditions are fulfilled. In a {{:​bib:​tenorth14motiontemplates.pdf|paper}} that will be presented at the European Conference on Artificial Intelligence,​ we investigate how constraint-based motion representations used in robot control can be combined with a semantic knowledge base in order to let a robot reason about movements and to automatically generate executable motion descriptions that can be adapted to different robots, objects and tools.
  
-The system uses KnowRob as knowledge base for representing and reasoning about the [[doc/​motion_constraints|motion descriptions]] and for [[doc/​mesh_reasoning|analyzing geometric object models]]. The execution components have been implemented as part of the [[http://​www.cram-system.org/​|CRAM robot control framework]].+The system uses KnowRob as knowledge base for representing and reasoning about the [[http://​knowrob.org/​doc/​motion_constraints|motion descriptions]] and for [[http://​knowrob.org/​doc/​mesh_reasoning|analyzing geometric object models]]. The execution components have been implemented as part of the [[http://​www.cram-system.org/​|CRAM robot control framework]].
  
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