Robotic architecture to map an action language to a low level motion commands for skillful manipulation
comunicación de congreso
Suárez Bonilla, Félix David
Ruiz Ugalde, Federico
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This paper gives an overview of a robotic architecture meant for skillful manipulation. This design is meant to close the gap between the high-level layer (reasoning and planing layer) and the object model system (physical control layer). This architecture proposes an interface layer that allows, in a meaningful way, to connect atomic tasks with controller inputs. In this paper, we discuss how specific complex tasks can be resolved by this system; we analyze the affordance unit design and, we overview the future challenges in the implemenation of the whole system.
External link to the item10.1109/ITNEC48623.2020.9084782
- Ingeniería eléctrica