5 research outputs found
Towards a robot task ontology standard
Ontologies serve robotics in many ways, particularly in de-
scribing and driving autonomous functions. These functions are
built around robot tasks. In this paper, we introduce the IEEE
Robot Task Representation Study Group, including its work plan,
initial development efforts, and proposed use cases. This effort
aims to develop a standard that provides a comprehensive on-
tology encompassing robot task structures and reasoning across
robotic domains, addressing both the relationships between tasks
and platforms and the relationships between tasks and users. Its
goal is to develop a knowledge representation that addresses task
structure, with decomposition into subclasses, categories, and/or
relations. It includes attributes, both common across tasks and
specific to particular tasks and task types
Smart Technologies for Precision Assembly
This open access book constitutes the refereed post-conference proceedings of the 9th IFIP WG 5.5 International Precision Assembly Seminar, IPAS 2020, held virtually in December 2020. The 16 revised full papers and 10 revised short papers presented together with 1 keynote paper were carefully reviewed and selected from numerous submissions. The papers address topics such as assembly design and planning; assembly operations; assembly cells and systems; human centred assembly; and assistance methods in assembly
Agile Tasking of Robotic Systems with Explicit Autonomy
Task agility is an increasingly desirable feature for
robots in application domains such as manufacturing.
The Canonical Robot Command Language (CRCL) is
a lightweight information model built for agile tasking
of robotic systems. CRCL replaces the underlying complex proprietary robot programming interface with a
standard interface. In this paper, we exchange the automated planning component that CRCL used in the past
for a rational agent in the GWENDOLEN agent programming language, thus providing greater possibilities for
formal verification and explicit autonomy. We evaluate
our approach by performing agile tasking in a kitting
case stud