Robotic architecture to map an action language to a low level motion commands for skillful manipulation
Fecha
2020
Tipo
comunicación de congreso
Autores
Suárez Bonilla, Félix David
Ruiz Ugalde, Federico
Título de la revista
ISSN de la revista
Título del volumen
Editor
Resumen
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.
Descripción
Palabras clave
Robot, Cognitive robotics, Object model system, Action language, Skillful manipulation