Publication

Skill-oriented designer of conceptual robotic structures

Conference Article

Conference

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Edition

2018

Pages

5679-5684

Doc link

http://dx.doi.org/10.1109/IROS.2018.8593856

File

Download the digital copy of the doc pdf document

Authors

Abstract

This communication presents an application for the use of ontologies in the generation of robot structures. The ontology developed for this app relies on the IEEE Standard Ontologies for Robotics and Automation (ORA) and it incorporates a set of concepts, relations and axioms that link robotic skills with the structural parts needed for their realization. The user can select a base configuration and/or a set of desired skills that the robot should be able to perform.Then, the application evaluates the axioms and returns an abstract structure that can carry out the requested skills. The final implementation of the structure can be achieved with any modular robotic platform that could identify each structural part with a physical device.

Categories

common-sense reasoning, robot kinematics.

Author keywords

Conceptual Robot Design, Ontologies, Modular Robotics

Scientific reference

F. Ramos, C.O. Scrob, A.S. Vázquez, R. Fernández and A. Olivares-Alarcos. Skill-oriented designer of conceptual robotic structures, 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018, Madrid, pp. 5679-5684.