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RAS
2010

Towards performing everyday manipulation activities

9 years 8 months ago
Towards performing everyday manipulation activities
This article investigates fundamental issues in scaling autonomous personal robots towards open-ended sets of everyday manipulation tasks which involve high complexity and vague job specifications. To achieve this, we propose a control architecture that synergetically integrates some of the most promising artificial intelligence (AI) methods that we consider as necessary for the performance of everyday manipulation tasks in human living environments: deep representations, probabilistic first-order learning and reasoning, and transformational planning of reactive behavior — all of which are integrated in a coherent high-level robot control system: COGITO. We demonstrate the strengths of this combination of methods by realizing, as a proof of concept, an autonomous personal robot capable of setting a table efficiently using instructions from the world wide web. To do so, the robot translates instructions into executable robot plans, debugs its plan to eliminate behavior flaws cau...
Michael Beetz, Dominik Jain, Lorenz Mösenlech
Added 30 Jan 2011
Updated 30 Jan 2011
Type Journal
Year 2010
Where RAS
Authors Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth
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