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knowrob_taxonomy [2012/12/01 13:58] – tenorthknowrob_taxonomy [2013/04/22 08:30] – admin
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-====== Overview of the KnowRob upper ontology ====== +#REDIRECT doc:knowrob_taxonomy
-~~NOTOC~~ +
-{{ :upper-ontology.png?nolink& |}} +
- +
-====  SpatialThing  ==== +
- +
-  * **Map** of an environment +
-  * **Point**, a zero-dimensional thing with a location +
-  * **Place** a relevant place in the environment +
-  * **Trajectory**, e.g. of the arm or the robot base +
-  * **SurfaceRegion**, different sides like the front or the back of an object +
-  * **EnduringThing-Localized**, all tangible objects that can be assigned a location +
-    * **EmbodiedAgent** +
-    * **PhysicalDevice**, an object that serves as a tool in the widest sense +
-    * **Connection-Physical** for any kind of joint +
-    * **HumanScaleObject** +
-      * **ConstructionArtifact** for walls, ceiling, floor, doors, etc +
-      * **FurniturePiece** for tables, cupboards, chairs, etc +
-      * **AnimalBodyPart**: Hands, legs, fingers,... +
-      * **FoodOrDrink**: edible and drinkable stuff +
- +
-====  TemporalThing  ==== +
- +
-  * **TimeInterval** (e.g. time points, date, time of the day) +
-  * **Situation**, e.g. a posture or a grasp +
-  * **Event** +
-    * **SensoryEvent**, e.g. the perception of an object +
-    * **StateChangeEvent**, e.g. heating, freezing, vaporization +
-    * **Action** -> PurposefulAction +
-      * **Perceiving** (similar to SensoryEvent, but in the action context) +
-      * **VoluntaryBodyMovement**, e.g. Reaching or ReleasingGrasp (Movements that are not directly manipulating an object) +
-      * **ActionOnObject** (any kind of object interaction) +
-        * **ControllingSomething**: tap, electrical device, ... +
-        * **HoldingAnObject** (different grasps, no movement involved) +
-        * **Movement-Translation**: picking up, putting down, or moving objects, walking around, ... +
-        * **RemovingSomething**: cleaning activities +
-        * **OpeningSomething**: bottle, cupboard, drawer, ... +
-        * **ClosingSomething**: bottle, cupboard, drawer, ... +
- +
-====  MathematicalThing  ==== +
-  * **Units** +
-  * **Mathematical objects** like coordinate systems, matrices, vectors etc+