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dc.contributor.authorAksoy, Eren Erdal
dc.contributor.authorDellen, Babette
dc.contributor.authorTamosiunaite, Minija
dc.contributor.authorWörgötter, Florentin
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.date.accessioned2012-02-15T19:08:39Z
dc.date.available2012-02-15T19:08:39Z
dc.date.created2011
dc.date.issued2011
dc.identifier.citationAksoy , 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.
dc.identifier.urihttp://hdl.handle.net/2117/15177
dc.description.abstractExecution 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.
dc.format.extent8 p.
dc.language.isoeng
dc.publisherIEEE Press. Institute of Electrical and Electronics Engineers
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Enginyeria de la telecomunicació::Processament del senyal::Reconeixement de formes
dc.subject.lcshPattern recognition systems
dc.subject.othercybernetics pattern recognition
dc.titleExecution of a dual-object (pushing) action with semantic event chains
dc.typeConference report
dc.subject.lemacReconeixement de formes (Informàtica) / Imatges -- Processament
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.identifier.doi10.1109/Humanoids.2011.6100833
dc.subject.inspecClassificació INSPEC::Pattern recognition
dc.relation.publisherversionhttp://dx.doi.org/10.1109/Humanoids.2011.6100833
dc.rights.accessOpen Access
drac.iddocument9401975
dc.description.versionPostprint (author’s final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/269959/EU/Intelligent observation and execution of Actions and manipulations/INTELLACT
dc.relation.projectidinfo:eu-repo/grantAgreement/EC/FP7/270273/EU/Robots Bootstrapped through Learning from Experience/XPERIENCE
upcommons.citation.authorAksoy , E.; Dellen, B.; Tamosiunaite, M.; Wörgötter , F.
upcommons.citation.contributorIEEE-RAS International Conference on Humanoid Robots
upcommons.citation.pubplaceBled
upcommons.citation.publishedtrue
upcommons.citation.publicationNameProceedings of 11th IEEE-RAS International Conference on Humanoid Robots
upcommons.citation.startingPage576
upcommons.citation.endingPage583


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