A knowledge-based framework for task automation in surgery

Ginesi, Michele; Meli, Daniele; Nakawala, Hirenkumar; Roberti, Andrea; Fiorini, Paolo

doi:10.1109/icar46387.2019.8981619

Cited by 17 publications

(9 citation statements)

References 20 publications

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“…Temporal logic Probabilistic logic SWI-Prolog (Wielemaker et al 2012) Readylog (Kirsch et al 2020) Clingo (Gebser et al 2019) ROSPlan (Cashmore et al 2015) LTLMoP (Finucane et al 2010) TuLiP (Wongpiromsarn et al 2011a) Problog (De Raedt et al 2007) Distributional Clauses (Gutmann et al 2011) ProbCog (Jain et al 2009) Probabilistic CTL (Rutten et al 2004) Ginesi et al 2019), human-robot interaction (Lemaignan et al 2010;Bruno et al 2017) and complex industrial (Diab et al 2019) and domestic (Tenorth and Beetz 2013) scenarios. Description logic offers high expressivity, allowing to reason on sub-classes, properties and more complex relations between entities of the knowledge base.…”

Section: Standard Logicmentioning

confidence: 99%

Logic programming for deliberative robotic task planning

2023

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Over the last decade, the use of robots in production and daily life has increased. With increasingly complex tasks and interaction in different environments including humans, robots are required a higher level of autonomy for efficient deliberation. Task planning is a key element of deliberation. It combines elementary operations into a structured plan to satisfy a prescribed goal, given specifications on the robot and the environment. In this manuscript, we present a survey on recent advances in the application of logic programming to the problem of task planning. Logic programming offers several advantages compared to other approaches, including greater expressivity and interpretability which may aid in the development of safe and reliable robots. We analyze different planners and their suitability for specific robotic applications, based on expressivity in domain representation, computational efficiency and software implementation. In this way, we support the robotic designer in choosing the best tool for his application.

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Section: Standard Logicmentioning

confidence: 99%

Logic programming for deliberative robotic task planning

2023

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“…The convergence of the merging strategy has proved theoretically, and experimental evaluation was performed as well. Additionally, the motion primitives theory and knowledgebased framework were integrated and employed in the surgery, which can be generalized to different tasks and environments (Ginesi et al, 2019(Ginesi et al, , 2020. Furthermore, the sequence of DMPs was employed to encode cooperative manipulation for mobile dual-arm (Zhao et al, 2018).…”

Section: Motion Primitivesmentioning

confidence: 99%

A Framework for Composite Layup Skill Learning and Generalizing Through Teleoperation

Wang

et al. 2022

Front. Neurorobot.

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In this article, an impedance control-based framework for human-robot composite layup skill transfer was developed, and the human-in-the-loop mechanism was investigated to achieve human-robot skill transfer. Although there are some works on human-robot skill transfer, it is still difficult to transfer the manipulation skill to robots through teleoperation efficiently and intuitively. In this article, we developed an impedance-based control architecture of telemanipulation in task space for the human-robot skill transfer through teleoperation. This framework not only achieves human-robot skill transfer but also provides a solution to human-robot collaboration through teleoperation. The variable impedance control system enables the compliant interaction between the robot and the environment, smooth transition between different stages. Dynamic movement primitives based learning from demonstration (LfD) is employed to model the human manipulation skills, and the learned skill can be generalized to different tasks and environments, such as the different shapes of components and different orientations of components. The performance of the proposed approach is evaluated on a 7 DoF Franka Panda through the robot-assisted composite layup on different shapes and orientations of the components.

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“…16-Left), where the human operator holds the robot arm and shows the appropriate movements to be encoded by DMPs (Kormushev et al 2011;Abu-Dakka et al 2015a;Joshi et al 2017;Papageorgiou et al 2020a,b). Recently, the technology is protruding into high risk fields such as invasive surgery, where high-dimensional fine human-like manipulation skills are being demonstrated (Su et al 2021) and executed with robots (Su et al 2020;Ginesi et al 2019). In (Kormushev et al 2011), the human held the robot arm and used kinesthetic guidance to teach the position and orientation trajectories necessary to perform ironing and door opening task.…”

Section: Demonstration Of Interaction Tasksmentioning

confidence: 99%

Dynamic Movement Primitives in Robotics: A Tutorial Survey

Saveriano¹,

Abu‐Dakka²,

Kramberger³

et al. 2021

Preprint

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Biological systems, including human beings, have the innate ability to perform complex tasks in versatile and agile manner. Researchers in sensorimotor control have tried to understand and formally define this innate property. The idea, supported by several experimental findings, that biological systems are able to combine and adapt basic units of motion into complex tasks finally lead to the formulation of the motor primitives theory. In this respect, Dynamic Movement Primitives (DMPs) represent an elegant mathematical formulation of the motor primitives as stable dynamical systems, and are well suited to generate motor commands for artificial systems like robots. In the last decades, Dynamic Movement Primitives (DMPs) have inspired researchers in different robotic fields including imitation and reinforcement learning, optimal control, physical interaction, and human-robot co-working, resulting a considerable amount of published papers. The goal of this tutorial survey is two-fold. On one side, we present the existing DMPs formulations in rigorous mathematical terms, and discuss advantages and limitations of each approach as well as practical implementation details. In the tutorial vein, we also search for existing implementations of presented approaches and release several others. On the other side, we provide a systematic and comprehensive review of existing literature and categorize state of the art work on DMP. The paper concludes with a discussion on the limitations of DMPs and an outline of possible research directions.

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A knowledge-based framework for task automation in surgery

Cited by 17 publications

References 20 publications

Logic programming for deliberative robotic task planning

Logic programming for deliberative robotic task planning

A Framework for Composite Layup Skill Learning and Generalizing Through Teleoperation

Dynamic Movement Primitives in Robotics: A Tutorial Survey

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