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knowrob_taxonomy [2013/02/12 18:41]
127.0.0.1 external edit
knowrob_taxonomy [2014/06/05 13:38] (current)
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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+