Kineverse: A Symbolic Articulation Model Framework for Model-Agnostic Mobile Manipulation
| Autor: | Adrian Rofer, Georg Bartels, Wolfram Burgard, Abhinav Valada, Michael Beetz |
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| Rok vydání: | 2020 |
| Předmět: |
Human-Computer Interaction
FOS: Computer and information sciences Computer Science - Robotics Control and Optimization Artificial Intelligence Control and Systems Engineering 68T40 Mechanical Engineering Biomedical Engineering I.2.9 Computer Vision and Pattern Recognition Robotics (cs.RO) Computer Science Applications |
| DOI: | 10.48550/arxiv.2012.05362 |
| Popis: | Service robots in the future need to execute abstract instructions such as "fetch the milk from the fridge". To translate such instructions into actionable plans, robots require in-depth background knowledge. With regards to interactions with doors and drawers, robots require articulation models that they can use for state estimation and motion planning. Existing frameworks model articulated connections as abstract concepts such as prismatic, or revolute, but do not provide a parameterized model of these connections for computation. In this paper, we introduce a novel framework that uses symbolic mathematical expressions to model articulated structures -- robots and objects alike -- in a unified and extensible manner. We provide a theoretical description of this framework, and the operations that are supported by its models, and introduce an architecture to exchange our models in robotic applications, making them as flexible as any other environmental observation. To demonstrate the utility of our approach, we employ our practical implementation Kineverse for solving common robotics tasks from state estimation and mobile manipulation, and use it further in real-world mobile robot manipulation. Comment: 8 pages, 8 figures, Published in: IEEE Robotics and Automation Letters ( Volume: 7, Issue: 2, April 2022) |
| Databáze: | OpenAIRE |
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