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Manipulation Motion Taxonomy and Coding for Robots [article]

David Paulius, Yongqiang Huang, Jason Meloncon, Yu Sun
2019 arXiv   pre-print
This paper introduces a taxonomy of manipulations as seen especially in cooking for 1) grouping manipulations from the robotics point of view, 2) consolidating aliases and removing ambiguity for motion  ...  Manipulation codes are then developed based on the taxonomy attributes to represent the manipulation motions.  ...  ACKNOWLEDGEMENT This material is based upon work supported by the National Science Foundation under Grants No. 1421418 and 1560761.  ... 
arXiv:1910.00532v1 fatcat:f24m4xzqozb5fnhgqfealbtuwy

A Motion Taxonomy for Manipulation Embedding [article]

David Paulius, Nicholas Eales, Yu Sun
2020 arXiv   pre-print
With this taxonomy, manipulations can be described and represented as binary strings called motion codes.  ...  Motion codes are compared to vectors from pre-trained Word2Vec models, and we show that motion codes maintain distances that closely match the reality of manipulation.  ...  EVALUATION OF THE TAXONOMY Having understood the taxonomy and identified motion codes for manipulations in ADL, we demonstrate how suitable they are for representing motion labels.  ... 
arXiv:2007.06695v1 fatcat:vo6yphq52na5losqeulssm3fre

Estimating Motion Codes from Demonstration Videos [article]

Maxat Alibayev, David Paulius, Yu Sun
2020 arXiv   pre-print
A motion taxonomy can encode manipulations as a binary-encoded representation, which we refer to as motion codes.  ...  The key advantage of using motion codes for embedding is that motions can be more appropriately defined with robotic-relevant features, and their distances can be more reasonably measured using these motion  ...  The purpose of the motion taxonomy is to translate manipulations into a machine language for motion recognition, analysis, and tentatively generation.  ... 
arXiv:2007.15841v1 fatcat:ka2u7z4xnjelfh62i64tql42tu

Developing Motion Code Embedding for Action Recognition in Videos [article]

Maxat Alibayev, David Paulius, Yu Sun
2020 arXiv   pre-print
These motion codes provide a robust motion representation, and they are obtained using a hierarchy of features called the motion taxonomy.  ...  We developed and trained a deep neural network model that combines visual and semantic features to identify the features found in our motion taxonomy to embed or annotate videos with motion codes.  ...  ACKNOWLEDGEMENTS This material is based upon work supported by the National Science Foundation under Grant Nos. 1812933 and 1910040.  ... 
arXiv:2012.05438v1 fatcat:ixv5bdrtlzdghc3vmmtv5eryea

Classifying compliant manipulation tasks for automated planning in robotics

Daniel Leidner, Christoph Borst, Alexander Dietrich, Michael Beetz, Alin Albu-Schaffer
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
The aim of the proposed taxonomy is to guide robotic programmers to develop generic actions for any kind of robotic systems in arbitrary domains.  ...  We also present a classification for the sub-category of wiping tasks, which are most common and of great importance in service robotics.  ...  RELATED WORK Several taxonomies for classifying object manipulation have been developed in the past. They can be separated into grasp taxonomies and manipulation taxonomies.  ... 
doi:10.1109/iros.2015.7353607 dblp:conf/iros/LeidnerBDBA15 fatcat:x66cbi7oz5agpiozp3ydvs4ngm

A Taxonomy for Heavy-Duty Telemanipulation Tasks Using Elemental Actions

Alexander Owen-Hill, José Breñosa, Manuel Ferre, Jordi Artigas, Rafael Aracil
2013 International Journal of Advanced Robotic Systems  
We describe in detail the properties of each elemental action and apply the taxonomy to an example subprocedure to show how the process can be generalizable.  ...  This work presents a taxonomy which describes a set of elemental actions for heavy-duty telemanipulation, along with an example of these actions in a standard maintenance subprocedure.  ...  Our taxonomy is arm-centric and motion-centric, specifically the motions of heavy-duty telemanipulation (heavy-duty being defined here as scaled-force manipulation of objects over 20kg).  ... 
doi:10.5772/57026 fatcat:mijpf4uysrak7jtl7fzm3v26pm

Assistive arm and hand manipulation: How does current research intersect with actual healthcare needs? [article]

Laura Petrich, Jun Jin, Masood Dehghan, Martin Jagersand
2021 arXiv   pre-print
Robotics and health care communities have different terms and taxonomies for representing tasks and motions.  ...  We derive and discuss a robotics-relevant taxonomy from this quantitative ADL task and ICF motion data in attempt to ameliorate these taxonomic differences.  ...  Figure 4 introduces a high-level taxonomy of assistive robotics tasks and arm manipulations.  ... 
arXiv:2101.02750v1 fatcat:nkfb45oesbasfdpqzbriqeg4iq

A Taxonomy of Vision Systems for Ground Mobile Robots

Jesus Martinez-Gomez, Antonio Fernandez-Caballero, Ismael Garcia-Varea, Luis Rodriguez, Cristina Romero-Gonzalez
2014 International Journal of Advanced Robotic Systems  
The taxonomy described is devised from a novel perspective, namely in order to respond to the main questions posed when designing robotic vision systems: why?, what for?, what with?, how?, and where?  ...  This paper introduces a taxonomy of vision systems for ground mobile robots. In the last five years, a significant number of relevant papers have contributed to this subject.  ...  Motion planning Motion planning is a term used in robotics for the process of detailing a task into discrete motions.  ... 
doi:10.5772/58900 fatcat:ydrtcuwnbrbhdgjxmw3rhfa7oi

Motor-Manipulatory Behaviours and Learning: an Observational Study

Assunta Tavernise, Rocco Servidio, Lorella Gabriele, Eleonora Bilotta
2008 International Journal of Online Engineering (iJOE)  
of integration between both perceptual and manipulative behavioural routines.  ...  robot.  ...  laws of motion, materials and physical processes [18] .  ... 
doaj:aeef240928e6447fbc2b0e4da95b2c50 fatcat:ltmva2tenve23dp3heap7h4t4i

κ-PMP: Enhancing Physics-based Motion Planners with Knowledge-Based Reasoning

Muhayyuddin, Aliakbar Akbari, Jan Rosell
2017 Journal of Intelligent and Robotic Systems  
The proposed approach has been validated with several examples involving an holonomic mobile robot, a robot with differential constraints and a serial manipulator, and benchmarked using several state-of-the  ...  Kinodynamic motion planners equipped with a dynamic engine acting as state propagator are usually used for that purpose.  ...  It is divided into the Semantic Knowledge containing information about the workspace and the robot, coded as an OWL taxonomy, as depicted in Fig. 5 , and the Manipulation Knowledge which involves knowledge  ... 
doi:10.1007/s10846-017-0698-z fatcat:b76scpeserfypoup5dakd7hgn4

Prevention and Resolution of Conflicts in Social Navigation – a Survey [article]

Reuth Mirsky and Xuesu Xiao and Justin Hart and Peter Stone
2021 arXiv   pre-print
It starts by defining a conflict in social navigation, and offers a detailed taxonomy of its components.  ...  With the approaching goal of having robots collaborate in shared human-robot environments, navigation in this context becomes both crucial and desirable.  ...  Motion Control SFM / ORCA / ROS / Human / Other. Most papers rely on an existing motion controller, and a robot is augmented with a new component for social navigation.  ... 
arXiv:2106.12113v1 fatcat:nrd4jhi3svhutple2a4uear5lu

Latest Datasets and Technologies Presented in the Workshop on Grasping and Manipulation Datasets [article]

Matteo Bianchi, Jeannette Bohg, Yu Sun
2016 arXiv   pre-print
The workshop clearly displayed the importance of quality datasets in robotics and robotic grasping and manipulation field.  ...  This paper reports the activities and outcomes in the Workshop on Grasping and Manipulation Datasets that was organized under the International Conference on Robotics and Automation (ICRA) 2016.  ...  Code and updated information is available (see [16] ).  ... 
arXiv:1609.02531v1 fatcat:eh55sor6mfc6pekm3r75bpwxcm

Robotic technology in surgery: Past, present, and future

David B. Camarillo, Thomas M. Krummel, J.Kenneth Salisbury
2004 American Journal of Surgery  
This article should serve as an introduction to medical robotic technologies, develop one possible taxonomy, review the evolution of a surgical robot, and discuss future prospects for innovation.  ...  However, in order to build upon past success and to fully leverage the potential of surgical robotics in the future, it is essential to maximize a shared understanding and communication among surgeons,  ...  are surveyed as to current developments, and we speculate on a framework for the future role of robotics in surgery. 8 Taxonomy Robot assisted surgery, as a new and emerging field, has fallen loosely  ... 
doi:10.1016/j.amjsurg.2004.08.025 pmid:15476646 fatcat:7uqdwdjdbrdndmvxcicv2zl5wa

Review of the techniques used in motor‐cognitive human‐robot skill transfer

Yuan Guan, Ning Wang, Chenguang Yang
2021 Cognitive Computation and Systems  
Based on the idea of establishing a generic or specialised robot skill library, robots are expected to autonomously reason about the needs for using skills and plan compound movements according to sensory  ...  Engineers programme a robot in a targeted manner for the realisation of predefined skills.  ...  Different from the above, a motion taxonomy for manipulation embedding with similarity metric was proposed in [125] .  ... 
doi:10.1049/ccs2.12025 fatcat:yqw4nekt45fx5kp3cgwrtax2fy

Contact Mode Guided Motion Planning for Quasidynamic Dexterous Manipulation in 3D [article]

Xianyi Cheng, Eric Huang, Yifan Hou, Matthew T. Mason
2021 arXiv   pre-print
This paper presents Contact Mode Guided Manipulation Planning (CMGMP) for general 3D quasistatic and quasidynamic rigid body motion planning in dexterous manipulation.  ...  We test our algorithm on many simulated 3D manipulation tasks, and validate our models by executing the plans open-loop on a real robot-manipulator system.  ...  Implementation and Planning Statistics We implement the algorithm using C++ and Dart [22] , with Bullet [9] for collision detection. We will release the code if the paper is accepted.  ... 
arXiv:2105.14431v2 fatcat:wmvz6v6eizgbvjyjgdnf4ck4dy
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