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Teaching a robot the semantics of assembly tasks
dc.contributor.author | Savarimuthu, Thiusius Rajeeth |
dc.contributor.author | Anders, Buch |
dc.contributor.author | Schlette, Christian |
dc.contributor.author | Wantia, Nils |
dc.contributor.author | Rossmann, Jürgen |
dc.contributor.author | Martinez Martinez, David |
dc.contributor.author | Alenyà Ribas, Guillem |
dc.contributor.author | Torras, Carme |
dc.contributor.author | Ales, Ude |
dc.contributor.author | Bojan, Nemec |
dc.contributor.author | Aljaž, Kramberger |
dc.contributor.author | Worgotter, Florentin |
dc.contributor.author | Eren Erdal, Aksoy |
dc.contributor.author | Papon, Jeremie |
dc.contributor.author | Haller, Simon |
dc.contributor.author | Piater, Justus |
dc.contributor.author | Krüger, Norbert |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2018-07-16T13:13:56Z |
dc.date.available | 2018-07-16T13:13:56Z |
dc.date.issued | 2018 |
dc.identifier.citation | Savarimuthu, T., Anders, B., Schlette, C., Wantia, N., Rossmann, J., Martinez, D., Alenyà, G., Torras, C., Ales, U., Bojan, N., Aljaž, K., Worgotter, F., Eren Erdal, A., Papon, J., Haller, S., Piater, J., Krüger, N. Teaching a robot the semantics of assembly tasks. "IEEE Transactions on Systems, Man, and Cybernetics. Systems", 2018, vol. 48, núm. 5, p. 670-692. |
dc.identifier.issn | 2168-2216 |
dc.identifier.uri | http://hdl.handle.net/2117/119381 |
dc.description | © 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
dc.description.abstract | We present a three-level cognitive system in a learning by demonstration context. The system allows for learn- ing and transfer on the sensorimotor level as well as the planning level. The fundamentally different data structures associated with these two levels are connected by an efficient mid-level represen- tation based on so-called “semantic event chains.” We describe details of the representations and quantify the effect of the asso- ciated learning procedures for each level under different amounts of noise. Moreover, we demonstrate the performance of the over- all system by three demonstrations that have been performed at a project review. The described system has a technical readiness level (TRL) of 4, which in an ongoing follow-up project will be raised to TRL 6. |
dc.format.extent | 23 p. |
dc.language.iso | eng |
dc.publisher | Institute of Electrical and Electronics Engineers (IEEE) |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Intel·ligència artificial |
dc.subject.other | artificial intelligence |
dc.subject.other | learning (artificial intelligence) |
dc.subject.other | manipulators |
dc.title | Teaching a robot the semantics of assembly tasks |
dc.type | Article |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/TSMC.2016.2635479 |
dc.description.peerreviewed | Peer Reviewed |
dc.subject.inspec | Classificació INSPEC::Cybernetics::Artificial intelligence |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/7827009/ |
dc.rights.access | Open Access |
local.identifier.drac | 23220081 |
dc.description.version | Postprint (author's final draft) |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/H2020/680431/EU/A Reconfigurable robot workCell for fast set-up of automated assembly processes in SMEs/ReconCell |
dc.relation.projectid | info:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT |
local.citation.author | Savarimuthu, T.; Anders, B.; Schlette, C.; Wantia, N.; Rossmann, J.; Martinez, D.; Alenyà, G.; Torras, C.; Ales, U.; Bojan, N.; Aljaž, K.; Worgotter, F.; Eren Erdal, A.; Papon, J.; Haller, S.; Piater, J.; Krüger, N. |
local.citation.publicationName | IEEE Transactions on Systems, Man, and Cybernetics. Systems |
local.citation.volume | 48 |
local.citation.number | 5 |
local.citation.startingPage | 670 |
local.citation.endingPage | 692 |
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