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Automatic relational scene representation for safe robotic manipulation tasks
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0002-2392-7146
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)ORCID iD: 0000-0003-0217-9326
2013 (English)Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we propose a new approach forautomatically building symbolic relational descriptions of staticconfigurations of objects to be manipulated by a robotic system.The main goal of our work is to provide advanced cognitiveabilities for such robotic systems to make them more aware ofthe outcome of their actions. We describe how such symbolicrelations are automatically extracted for configurations ofbox-shaped objects using notions from geometry and staticequilibrium in classical mechanics. We also present extensivesimulation results as well as some real-world experiments aimedat verifying the output of the proposed approach.

Place, publisher, year, edition, pages
IEEE, 2013. 1335-1340 p.
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
National Category
Robotics Computer Science
Research subject
Computer Science
Identifiers
URN: urn:nbn:se:oru:diva-32395DOI: 10.1109/IROS.2013.6696522ISI: 000331367401064Scopus ID: 2-s2.0-84893791900ISBN: 978-1-4673-6358-7 (print)OAI: oai:DiVA.org:oru-32395DiVA: diva2:664340
Conference
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Available from: 2013-11-14 Created: 2013-11-14 Last updated: 2017-10-18Bibliographically approved

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Mojtahedzadeh_etal_2013-IROS-Automatic_Relational_Scene_Representation_for_Safe_Robotic_Manipulation_Tasks.pdf(1900 kB)130 downloads
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Mojtahedzadeh, RasoulBouguerra, AbdelbakiLilienthal, Achim J.
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CiteExportLink to record
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Output format
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