Knowledge Representations for Planning Manipulation Tasks - Franziska Zacharias
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Toimitus 17-23 arkipäivässä
30 päivän palautusoikeus
In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms a ... Täydellinen kuvaus
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Kuvaus
In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.
Lisätietoja
| Kirjoittaja | Franziska Zacharias |
|---|---|
| Julkaisija | Springer Berlin Heidelberg |
| Series | Cognitive Systems Monographs |
| Julkaisuvuosi | 2012 |
| Kannen tyyppi | Kovakantinen |
| EAN | 9783642251818 |