TY - JOUR
T1 - Cognition-enabled robotic wiping
T2 - Representation, planning, execution, and interpretation
AU - Leidner, Daniel
AU - Bartels, Georg
AU - Bejjani, Wissam
AU - Albu-Schäffer, Alin
AU - Beetz, Michael
N1 - Publisher Copyright:
© 2018 Elsevier B.V.
PY - 2019/4
Y1 - 2019/4
N2 - Advanced cognitive capabilities enable humans to solve even complex tasks by representing and processing internal models of manipulation actions and their effects. Consequently, humans are able to plan the effect of their motions before execution and validate the performance afterwards. In this work, we derive an analog approach for robotic wiping actions which are fundamental for some of the most frequent household chores including vacuuming the floor, sweeping dust, and cleaning windows. We describe wiping actions and their effects based on a qualitative particle distribution model. This representation enables a robot to plan goal-oriented wiping motions for the prototypical wiping actions of absorbing, collecting and skimming. The particle representation is utilized to simulate the task outcome before execution and infer the real performance afterwards based on haptic perception. This way, the robot is able to estimate the task performance and schedule additional motions if necessary. We evaluate our methods in simulated scenarios, as well as in real experiments with the humanoid service robot Rollin’ Justin.
AB - Advanced cognitive capabilities enable humans to solve even complex tasks by representing and processing internal models of manipulation actions and their effects. Consequently, humans are able to plan the effect of their motions before execution and validate the performance afterwards. In this work, we derive an analog approach for robotic wiping actions which are fundamental for some of the most frequent household chores including vacuuming the floor, sweeping dust, and cleaning windows. We describe wiping actions and their effects based on a qualitative particle distribution model. This representation enables a robot to plan goal-oriented wiping motions for the prototypical wiping actions of absorbing, collecting and skimming. The particle representation is utilized to simulate the task outcome before execution and infer the real performance afterwards based on haptic perception. This way, the robot is able to estimate the task performance and schedule additional motions if necessary. We evaluate our methods in simulated scenarios, as well as in real experiments with the humanoid service robot Rollin’ Justin.
KW - AI reasoning methods
KW - Action and effect representation
KW - Compliant manipulation
KW - Service robotics
UR - http://www.scopus.com/inward/record.url?scp=85061748854&partnerID=8YFLogxK
U2 - 10.1016/j.robot.2018.11.018
DO - 10.1016/j.robot.2018.11.018
M3 - Article
AN - SCOPUS:85061748854
SN - 0921-8890
VL - 114
SP - 199
EP - 216
JO - Robotics and Autonomous Systems
JF - Robotics and Autonomous Systems
ER -