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Title

Skill-oriented designer of conceptual robotic structures

AuthorsRamos, Francisco; Scrob, Cristian O.; Vázquez, Andrés S.; Fernández, Raúl; Olivares-Alarcos, Alberto
KeywordsRobot sensing systems
Ontologies
Legged locomotion
Semantics
Taxonomy
Morphology
Issue Date7-Jan-2019
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (2018)
AbstractThis 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.
DescriptionTrabajo presentado en la IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), celebrada en Madrid, del 1 al 5 de octubre de 2018
Publisher version (URL)http://dx.doi.org/10.1109/IROS.2018.8593856
URIhttp://hdl.handle.net/10261/179423
DOI10.1109/IROS.2018.8593856
ISSN978-1-5386-8094-0
E-ISSN2153-0866
Appears in Collections:(IRII) Libros y partes de libros
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