2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010
DOI: 10.1109/iros.2010.5650146
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Abstract: This paper describes CRAM (Cognitive Robot Abstract Machine) as a software toolbox for the design, the implementation, and the deployment of cognition-enabled autonomous robots performing everyday manipulation activities. CRAM equips autonomous robots with lightweight reasoning mechanisms that can infer control decisions rather than requiring the decisions to be preprogrammed. This way CRAMprogrammed autonomous robots are much more flexible, reliable, and general than control programs that lack such cognitive … Show more

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Cited by 148 publications
(100 citation statements)
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References 28 publications
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“…Current approaches to learning show that symbol semantics useful for robot manipulation like the qualitative relations used in our representation can also be acquired by means of learning [36]. So far, most systems rely on hand-coded symbols (e.g., [37]) though. On the level of basic spatial relations we also use predefined relations in order to be informed of qualitative reasoning techniques applicable.…”
Section: Discussion Of Related Approachesmentioning
confidence: 99%
“…Current approaches to learning show that symbol semantics useful for robot manipulation like the qualitative relations used in our representation can also be acquired by means of learning [36]. So far, most systems rely on hand-coded symbols (e.g., [37]) though. On the level of basic spatial relations we also use predefined relations in order to be informed of qualitative reasoning techniques applicable.…”
Section: Discussion Of Related Approachesmentioning
confidence: 99%
“…The approach closest to ours is presented in the works of M. Beetz and his group, where high-level actions are translated, using knowledge-based techniques, into robot programs [28]. However, the resulting code is normally at the level of ROS primitives, acceptable in case of service robots, but without providing any real-time guarantees needed in industrial setting.…”
Section: Related Workmentioning
confidence: 99%
“…To execute these actions the CRAM [18] toolbox based on Common Lisp is adopted. The reasons for using this toolbox are:…”
Section: Executivementioning
confidence: 99%