Resumé
| Originalsprog | Engelsk |
|---|---|
| Publikationsdato | 15 jul. 2014 |
| Antal sider | 4 |
| Status | Udgivet - 15 jul. 2014 |
| Begivenhed | IRAS 2014: 1st International Workshop on Intelligent Robot Assistants - Centro Congressi Padova, Padova, Italien Varighed: 15 jul. 2014 → … Konferencens nummer: 1 http://iras2014.aau.dk/program/ |
Workshop
| Workshop | IRAS 2014 |
|---|---|
| Nummer | 1 |
| Lokation | Centro Congressi Padova |
| Land | Italien |
| By | Padova |
| Periode | 15/07/2014 → … |
| Internetadresse |
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SkiROS : A four tiered architecture for task-level programming of industrial mobile manipulators. / Rovida, Francesco; Schou, Casper; Andersen, Rasmus Skovgaard; Damgaard, Jens Skov; Chrysostomou, Dimitrios; Bøgh, Simon; Pedersen, Mikkel Rath; Grossmann, Bjarne; Madsen, Ole; Krüger, Volker.
2014. Afhandling præsenteret på IRAS 2014, Padova, Italien.Publikation: Konferencebidrag uden forlag/tidsskrift › Paper uden forlag/tidsskrift › Forskning › peer review
TY - CONF
T1 - SkiROS
T2 - A four tiered architecture for task-level programming of industrial mobile manipulators
AU - Rovida, Francesco
AU - Schou, Casper
AU - Andersen, Rasmus Skovgaard
AU - Damgaard, Jens Skov
AU - Chrysostomou, Dimitrios
AU - Bøgh, Simon
AU - Pedersen, Mikkel Rath
AU - Grossmann, Bjarne
AU - Madsen, Ole
AU - Krüger, Volker
PY - 2014/7/15
Y1 - 2014/7/15
N2 - During the last decades, the methods for intuitive task level programming of robots have become a fundamental point of interest for industrial application. The paper in hand presents SkiROS (Skill-based Robot Operating System) a novel software architecture based on the skills paradigm. The skill paradigm has already been used and tested within the FP7 project TAPAS, and we are going to use it in several new FP7 projects (CARLOS, STAMINA, ACAT). It facilitates task-level programming of mobile manipulators by providing the robot with a set of movement primitives, skills and tasks. This hierarchy brings many advantages, where the most relevant is the separation of control in the layers of hardware abstraction(proxy), multi-sensory control(primitive), object-level abstraction (skill) and planning (task). The definition and the clear division in different abstraction levels allows the implementation of a flexible, highly modular system for the development of cognitive robot tasks.
AB - During the last decades, the methods for intuitive task level programming of robots have become a fundamental point of interest for industrial application. The paper in hand presents SkiROS (Skill-based Robot Operating System) a novel software architecture based on the skills paradigm. The skill paradigm has already been used and tested within the FP7 project TAPAS, and we are going to use it in several new FP7 projects (CARLOS, STAMINA, ACAT). It facilitates task-level programming of mobile manipulators by providing the robot with a set of movement primitives, skills and tasks. This hierarchy brings many advantages, where the most relevant is the separation of control in the layers of hardware abstraction(proxy), multi-sensory control(primitive), object-level abstraction (skill) and planning (task). The definition and the clear division in different abstraction levels allows the implementation of a flexible, highly modular system for the development of cognitive robot tasks.
KW - Mobile manipulation
KW - Task-level programming
KW - Software architecture
M3 - Paper without publisher/journal
ER -