Ontology-Based Knowledge Representation for Increased Skill Reusability in Industrial Robots
(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:
https://lup.lub.lu.se/record/bbee5ffb-8aa5-467a-add0-fd6d45341687
- author
- Topp, Elin Anna LU ; Stenmark, Maj LU ; Ganslandt, Alexander LU ; Svensson, Andreas LU ; Haage, Mathias LU and Malec, Jacek LU
- organization
- publishing date
- 2019-01-07
- 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}}, }