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Citació: Aksoy , E. [et al.]. Execution of a dual-object (pushing) action with semantic event chains. A: IEEE-RAS International Conference on Humanoid Robots. "Proceedings of 11th IEEE-RAS International Conference on Humanoid Robots". Bled: IEEE Press. Institute of Electrical and Electronics Engineers, 2011, p. 576-583.
Títol: Execution of a dual-object (pushing) action with semantic event chains
Autor: Aksoy, Eren Erdal; Dellen, Babette Veure Producció científica UPC; Tamosiunaite, Minija; Wörgötter, Florentin
Editorial: IEEE Press. Institute of Electrical and Electronics Engineers
Data: 2011
Tipus de document: Conference report
Resum: Execution of a manipulation after learning from demonstration many times requires intricate planning and control systems or some form of manual guidance for a robot. Here we present a framework for manipulation execution based on the so called “Semantic Event Chain” which is an abstract description of relations between the objects in the scene. It captures the change of those relations during a manipulation and thereby provides the decisive temporal anchor points by which a manipulation is critically defined. Using semantic event chains a model of a manipulation can be learned. We will show that it is possible to add the required control parameters (the spatial anchor points) to this model, which can then be executed by a robot in a fully autonomous way. The process of learning and execution of semantic event chains is explained using a box pushing example.
URI: http://hdl.handle.net/2117/15177
DOI: 10.1109/Humanoids.2011.6100833
Versió de l'editor: http://dx.doi.org/10.1109/Humanoids.2011.6100833
Apareix a les col·leccions:Altres. Enviament des de DRAC
Institut de Robòtica i Informàtica Industrial, CSIC-UPC. Ponències/Comunicacions de congressos
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