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Library of Actions: Implementing a Generic Robot Execution Framework by Using Manipulation Action Semantics
Department for Computational Neuroscience at the Bernstein Center Gottingen (Inst. of Physics 3) and Leibniz Science Campus for Primate Cognition, Georg-August-Universität Göttingen, Göttingen, Germany.
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.
Bernstein Center for Computational Neuroscience (BCCN), Third Physics Institute, Georg-August-Universität Göttingen, Göttingen, Germany.
2018 (English)In: The international journal of robotics research, ISSN 0278-3649, E-ISSN 1741-3176Article in journal (Refereed) Submitted
Abstract [en]

When a robot has to imitate an observed action sequence, it must first understand the inherent characteristic features of the individual actions. Such features need to reflect the semantics of the action with a high degree of invariance between different demonstrations of the same action. At the same time the machine needs to be able to execute the action sequence in any appropriate situation. In this study, we introduce a new library of actions, which is a generic framework for executing manipulation actions on robotic systems by combining features that capture action semantics with a framework for execution. We focus on manipulation actions and first create a generic representation consisting of symbolic and sub-symbolic components. To link these two domains we introduce a finite state machine allowing for sequential execution with error handling. The framework is developed from observing humans which provides us with a high degree of grounding. To quantitatively evaluate the scalability of the proposed approach, we conducted a large set of experiments involving different actions performed either individually or sequentially with various types of objects in different scene contexts.

Place, publisher, year, edition, pages
London: Sage Publications, 2018.
Keywords [en]
Library of Actions, Execution, Manipulation Action, Semantic Event Chain
National Category
Robotics
Identifiers
URN: urn:nbn:se:hh:diva-38427OAI: oai:DiVA.org:hh-38427DiVA, id: diva2:1266022
Available from: 2018-11-27 Created: 2018-11-27 Last updated: 2018-11-27

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Aksoy, Eren

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf