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Open Access item Execution of a dual-object (pushing) action with semantic event chains

Authors:Aksoy, Eren Erdal
Dellen, Babette
Tamosiunaite, Minija
Wörgötter, Florentin
Keywords:Cybernetics, Pattern recognition, Image segmentation, Motion pictures, Semantics, Trajectory, Vectors
Issue Date:Oct-2011
Publisher:Institute of Electrical and Electronics Engineers
Citation:11th IEEE-RAS International Conference on Humanoid Robots: 576-583 (2011)
Abstract:Execution of a manipulation after learning from demonstration many times requires intricate planning and control systems or some form of manual guidance for a robot. Here we present a framework for manipulation execution based on the so called “Semantic Event Chain” which is an abstract description of relations between the objects in the scene. It captures the change of those relations during a manipulation and thereby provides the decisive temporal anchor points by which a manipulation is critically defined. Using semantic event chains a model of a manipulation can be learned. We will show that it is possible to add the required control parameters (the spatial anchor points) to this model, which can then be executed by a robot in a fully autonomous way. The process of learning and execution of semantic event chains is explained using a box pushing example.
Description:Presentado en 11th IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS), Bled, Slovenia, 26-28 October, 2011.
Publisher version (URL):http://dx.doi.org/10.1109/Humanoids.2011.6100833
Appears in Collections:(IRII) Libros y partes de libros

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