Diseño de una arquitectura robótica para mapear un lenguaje de acción a comandos de movimiento de bajo nivel para manipulación hábil

This paper gives an overview of a robotic architecture meant for skillful manipulation. This design is meant to close the gap between the high level layer (reasoning and planing layer) and the object model system (physical control layer). This architecture proposes an interface layer that allows, in a meaningful way, to connect atomic tasks with controller inputs. In this paper, we discuss how specific complex tasks can be resolved by this system; we analyze the affordance unit design and, we overview the future challenges in the implemenation of the whole system.Este artículo ofrece una visión general de una arquitectura robótica destinada a la manipulación hábil. Este diseño está destinado a cerrar la brecha entre la capa de alto nivel (capa de razonamiento y planificación) y el sistema de modelo de objetos (capa de control físico). Esta arquitectura propone una capa de interfaz que permite, de manera significativa, conectar tareas básicas con el controlador. En este artículo, discutimos cómo este sistema puede resolver tareas complejas específicas; analizamos el diseño de la unidad de accesibilidad y presentamos una visión general de los desafíos futuros en la implementación de todo el sistema.Universidad de Costa Rica/[322-B6-279]/UCR/Costa RicaUCR::Vicerrectoría de Investigación::Unidades de Investigación::Ingeniería::Instituto Investigaciones en Ingeniería (INII)UCR::Vicerrectoría de Docencia::Ingeniería::Facultad de Ingeniería::Escuela de Ingeniería EléctricaUCR::Vicerrectoría de Investigación::Sistema de Estudios de Posgrado::Ingeniería::Maestría Académica en Ingeniería Eléctric

The Roasted Tomato Challenge for a Humanoid Robot

Supporting humans in the kitchen is a difficult task for a humanoid robot. This study focuses on one of the tasks identified in the HUMABOT Challenge, finding a tomato in a kitchen environment and grabbing it from the table. Three detection algorithms are evaluated on their performance to find the tomato without confusion with other vegetables present in the kitchen. Once found, the location of the tomato relative to the humanoid robot is estimated. A planning algorithm is then used to grab the tomato from the table with both arms

The Roasted Tomato Challenge for a Humanoid Robot

The Roasted Tomato Challenge for a Humanoid Robot Lagrand, C.; van der Meer, M.; Visser, A. General rights It is not permitted to download or to forward/distribute the text or part of it without the consent of the author(s) and/or copyright holder(s), other than for strictly personal, individual use, unless the work is under an open content license (like Creative Commons). Disclaimer/Complaints regulations If you believe that digital publication of certain material infringes any of your rights or (privacy) interests, please let the Library know, stating your reasons. In case of a legitimate complaint, the Library will make the material inaccessible and/or remove it from the website. Please Ask the Library: https://uba.uva.nl/en/contact, or a letter to: Library of the University of Amsterdam, Secretariat, Singel 425, 1012 WP Amsterdam, The Netherlands. You will be contacted as soon as possible. Abstract-Supporting humans in the kitchen is a difficult task for a humanoid robot. This study focuses on one of the tasks identified in the HUMABOT Challenge; finding a tomato in a kitchen environment and grabbing it from the table. Three detection algorithms are evaluated on their performance to find the tomato without confusion with other vegetables present in the kitchen. Once found, the location of the tomato relative to the humanoid robot is estimated. A planning algorithm is then used to grab the tomato from the table with both arms

The Roasted Tomato Challenge for a Humanoid Robot

Supporting humans in the kitchen is a difficult task for a humanoid robot. This study focuses on one of the tasks identified in the HUMABOT Challenge, finding a tomato in a kitchen environment and grabbing it from the table. Three detection algorithms are evaluated on their performance to find the tomato without confusion with other vegetables present in the kitchen. Once found, the location of the tomato relative to the humanoid robot is estimated. A planning algorithm is then used to grab the tomato from the table with both arms

The Roasted Tomato Challenge for a Humanoid Robot

Supporting humans in the kitchen is a difficult task for a humanoid robot. This study focuses on one of the tasks identified in the HUMABOT Challenge, finding a tomato in a kitchen environment and grabbing it from the table. Three detection algorithms are evaluated on their performance to find the tomato without confusion with other vegetables present in the kitchen. Once found, the location of the tomato relative to the humanoid robot is estimated. A planning algorithm is then used to grab the tomato from the table with both arms