Robotic architecture design to map an action language to a low level motion commands for skillful manipulation
Guardado en:
| Autores: | , |
|---|---|
| Formato: | comunicación de congreso |
| Fecha de Publicación: | 2019 |
| Descripción: | 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. |
| País: | Kérwá |
| Institución: | Universidad de Costa Rica |
| Repositorio: | Kérwá |
| Lenguaje: | Inglés |
| OAI Identifier: | oai:kerwa.ucr.ac.cr:10669/85362 |
| Acceso en línea: | http://jornadas.fing.ucr.ac.cr/documentos/Ponencia/2019/Robotic-architecture-desing-to-map-on-action-language-to-a-low-level-motion-control-for-skillful-manipulation.pdf https://hdl.handle.net/10669/85362 |
| Palabra clave: | Arquitectura robótica Manipulación hábil Capa de interfaz Tareas de complejas Modelos de asequibilidad Capa de control física Matriz de asequibilidad Robotic architecture Skillful manipulation Interface layer Complex tasks Affordance model Physical control layer Affordance matrix |