Title: “Execution of a Dual-Object (Pushing) Action with Semantic Event Chains”
Authors: Aksoy Eren Erdal, Dellen Babette, Tamosiunaite Minija, and Wörgötter Florentin
In IEEE-RAS Int. Conf. on Humanoid Robots, pp.576-583
Abstract:
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
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