Cognitive Systems Monographs

Knowledge Representations for Planning Manipulation Tasks

Authors: Zacharias, Franziska

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  • Presents manipulation tasks for a humanoid robot
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About this book

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.    

Table of contents (7 chapters)

Table of contents (7 chapters)

Buy this book

eBook 93,08 €
price for Spain (gross)
  • ISBN 978-3-642-25182-5
  • Digitally watermarked, DRM-free
  • Included format: PDF
  • ebooks can be used on all reading devices
  • Immediate eBook download after purchase
Hardcover 135,19 €
price for Spain (gross)
Softcover 116,63 €
price for Spain (gross)
Rent the eBook  
  • Rental duration: 1 or 6 month
  • low-cost access
  • online reader with highlighting and note-making option
  • can be used across all devices
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Bibliographic Information

Bibliographic Information
Book Title
Knowledge Representations for Planning Manipulation Tasks
Authors
Series Title
Cognitive Systems Monographs
Series Volume
16
Copyright
2012
Publisher
Springer-Verlag Berlin Heidelberg
Copyright Holder
Springer-Verlag GmbH Berlin Heidelberg
eBook ISBN
978-3-642-25182-5
DOI
10.1007/978-3-642-25182-5
Hardcover ISBN
978-3-642-25181-8
Softcover ISBN
978-3-662-50873-2
Series ISSN
1867-4925
Edition Number
1
Number of Pages
XII, 148
Number of Illustrations
15 b/w illustrations, 6 illustrations in colour
Topics