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Ontology-Based Knowledge Representation for Increased Skill Reusability in Industrial Robots

Topp, Elin Anna LU orcid ; Stenmark, Maj LU ; Ganslandt, Alexander LU ; Svensson, Andreas LU ; Haage, Mathias LU and Malec, Jacek LU orcid (2019) IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) p.5672-5678
Abstract
We assume that an intuitive means for the specification, re-use, modification and transfer of synchronized motions-both regarding the two arms of a dual-arm robotic system, as well as regarding the coordination of a user and a robot-is key in interactive and collaborative settings as they are currently targeted for industrial applications. We show, how our knowledge based approach to end-user programming of synchronized motions and other generalizable, robot-agnostic skills can support such specification of coordinated actions between two robot arms and explain how that could be extended to include coordination with a human user. We describe the underlying ontologies and possibilities to populate those with an interface for intuitive... (More)
We assume that an intuitive means for the specification, re-use, modification and transfer of synchronized motions-both regarding the two arms of a dual-arm robotic system, as well as regarding the coordination of a user and a robot-is key in interactive and collaborative settings as they are currently targeted for industrial applications. We show, how our knowledge based approach to end-user programming of synchronized motions and other generalizable, robot-agnostic skills can support such specification of coordinated actions between two robot arms and explain how that could be extended to include coordination with a human user. We describe the underlying ontologies and possibilities to populate those with an interface for intuitive programming, and show the generality of our approach through a task transfer between different kinematics (different robots), where the user is supported through underlying reasoning about the fulfillment of certain parameters or constraints for the involved skills. (Less)
Please use this url to cite or link to this publication:
author
; ; ; ; and
organization
publishing date
type
Chapter in Book/Report/Conference proceeding
publication status
published
subject
keywords
ontology-based knowledge representation, dual-arm robotic system, industrial applications, end-user programming, robot arms, intuitive programming, task transfer, kinematics, robot-agnostic skills, industrial robots skill reusability
host publication
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
pages
5672 - 5678
publisher
IEEE - Institute of Electrical and Electronics Engineers Inc.
conference name
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)
conference location
Madrid, Spain
conference dates
2018-10-01 - 2018-10-05
external identifiers
  • scopus:85062955964
ISBN
978-1-5386-8094-0
DOI
10.1109/IROS.2018.8593566
project
SARAFun—Smart Assembly Robot with Advanced FUNctionalities
language
English
LU publication?
yes
id
bbee5ffb-8aa5-467a-add0-fd6d45341687
date added to LUP
2019-02-08 14:44:54
date last changed
2022-05-03 17:58:53
@inproceedings{bbee5ffb-8aa5-467a-add0-fd6d45341687,
  abstract     = {{We assume that an intuitive means for the specification, re-use, modification and transfer of synchronized motions-both regarding the two arms of a dual-arm robotic system, as well as regarding the coordination of a user and a robot-is key in interactive and collaborative settings as they are currently targeted for industrial applications. We show, how our knowledge based approach to end-user programming of synchronized motions and other generalizable, robot-agnostic skills can support such specification of coordinated actions between two robot arms and explain how that could be extended to include coordination with a human user. We describe the underlying ontologies and possibilities to populate those with an interface for intuitive programming, and show the generality of our approach through a task transfer between different kinematics (different robots), where the user is supported through underlying reasoning about the fulfillment of certain parameters or constraints for the involved skills.}},
  author       = {{Topp, Elin Anna and Stenmark, Maj and Ganslandt, Alexander and Svensson, Andreas and Haage, Mathias and Malec, Jacek}},
  booktitle    = {{2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}},
  isbn         = {{978-1-5386-8094-0}},
  keywords     = {{ontology-based knowledge representation; dual-arm robotic system; industrial applications; end-user programming; robot arms; intuitive programming; task transfer; kinematics; robot-agnostic skills; industrial robots skill reusability}},
  language     = {{eng}},
  month        = {{01}},
  pages        = {{5672--5678}},
  publisher    = {{IEEE - Institute of Electrical and Electronics Engineers Inc.}},
  title        = {{Ontology-Based Knowledge Representation for Increased Skill Reusability in Industrial Robots}},
  url          = {{http://dx.doi.org/10.1109/IROS.2018.8593566}},
  doi          = {{10.1109/IROS.2018.8593566}},
  year         = {{2019}},
}