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dc.contributor.authorUd Din, Muhayy
dc.contributor.authorAkbari, Aliakbar
dc.contributor.authorRosell Gratacòs, Jan
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria Mecànica
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2015-11-11T10:07:12Z
dc.date.issued2015
dc.identifier.citationUd Din, M., Akbari, A., Rosell, J. Ontological physics-based motion planning for manipulation. A: IEEE International Conference on Emerging Technologies and Factory Automation. "Proceedings of the 20th IEEE International Conference on Emerging Technologies and Factory Automation". Luxemburg: Institute of Electrical and Electronics Engineers (IEEE), 2015.
dc.identifier.isbn978-1-4673-7928-1
dc.identifier.urihttp://hdl.handle.net/2117/79004
dc.description.abstractRobotic manipulation involves actions where contacts occur between the robot and the objects. In this scope, the availability of physics-based engines allows motion planners to comprise dynamics between rigid bodies, which is necessary for planning this type of actions. However, physics-based motion planning is computationally intensive due to the high dimensionality of the state space and the need to work with a low integration step to find accurate solutions. On the other hand, manipulation actions change the environment and conditions further actions and motions. To cope with this issue, the representation of manipulation actions using ontologies enables a semantic-based inference processe that alleviates the computational cost of motion planning. This paper proposes a manipulation planning framework where physics-based motion planning is enhanced with ontological knowledge representation and reasoning. The proposal has been implemented and is illustrated and validated with a simple example. Its use in grasping tasks in cluttered environments is currently under development
dc.language.isoeng
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.subjectÀrees temàtiques de la UPC::Física
dc.subjectÀrees temàtiques de la UPC::Enginyeria electrònica
dc.subject.lcshSimulations
dc.subject.lcshPhysics
dc.subject.otherPhysics-based motion planning
dc.subject.otherDynamic simulations
dc.subject.otherKnowledge-based reasoning
dc.subject.otherManipulation
dc.titleOntological physics-based motion planning for manipulation
dc.typeConference report
dc.subject.lemacFísica
dc.contributor.groupUniversitat Politècnica de Catalunya. SIR - Service and Industrial Robotics
dc.rights.accessRestricted access - publisher's policy
local.identifier.drac17088697
dc.description.versionPostprint (published version)
dc.date.lift10000-01-01
local.citation.authorUd Din, M.; Akbari, A.; Rosell, J.
local.citation.contributorIEEE International Conference on Emerging Technologies and Factory Automation
local.citation.pubplaceLuxemburg
local.citation.publicationNameProceedings of the 20th IEEE International Conference on Emerging Technologies and Factory Automation


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