Knowledge Representations for Planning Manipulation Tasks (Hardcover, 2012 ed.)

In this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.

General

Imprint:	Springer-Verlag
Country of origin:	Germany
Series:	Cognitive Systems Monographs, 16
Release date:	2012
First published:	2012
Authors:	Franziska Zacharias
Dimensions:	235 x 155 x 11mm (L x W x T)
Format:	Hardcover
Pages:	148
Edition:	2012 ed.
ISBN-13:	978-3-642-25181-8
Categories:	Books > Computing & IT > Social & legal aspects of computing > Human-computer interaction Books > Computing & IT > Applications of computing > Artificial intelligence > General Books > Professional & Technical > Electronics & communications engineering > Electronics engineering > Automatic control engineering > Robotics
LSN:	3-642-25181-1
Barcode:	9783642251818

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