DocumentCode :
2416661
Title :
Movement-aware action control — Integrating symbolic and control-theoretic action execution
Author :
Kresse, Ingo ; Beetz, Michael
Author_Institution :
Intell. Autonomous Syst. Group, Tech. Univ. Munchen, Garching, Germany
fYear :
2012
fDate :
14-18 May 2012
Firstpage :
3245
Lastpage :
3251
Abstract :
In this paper we propose a bridge between a symbolic reasoning system and a task function based controller. We suggest to use modular position- and force constraints, which are represented as action-object-object triples on the symbolic side and as task function parameters on the controller side. This description is a considerably more fine-grained interface than what has been seen in high-level robot control systems before. It can preserve the ´null space´ of the task and make it available to the control level. We demonstrate how a symbolic description can be translated to a control-level description that is executable on the robot. We describe the relation to existing robot knowledge bases and indicate information sources for generating constraints on the symbolic side. On the control side we then show how our approach outperforms a traditional controller, by exploiting the task´s null space, leading to a significantly extended work space.
Keywords :
force control; inference mechanisms; mobile robots; motion control; position control; action-object-object triples; control-theoretic action execution; force constraint; high-level robot control system; modular position; movement-aware action control; robot knowledge bases; symbolic action execution; symbolic reasoning system; task function based controller; Couplings; Force; Joints; Null space; Ovens; Robot kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
ISSN :
1050-4729
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
Type :
conf
DOI :
10.1109/ICRA.2012.6225119
Filename :
6225119
Link To Document :
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