Integrating planning and execution for ROS enabled service robots using hierarchical action representations

Janssen, Rob; Meijl, Erik van; Marco, Daniel Di; Molengraft, René van de; Steinbuch, M Maarten

doi:10.1109/icar.2013.6766556

Cited by 7 publications

(5 citation statements)

References 24 publications

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“…The Spiralift can be integrated as a robot's vertical spine (eg. on EL-E [15], PR2 [16], AMIGO [17] and RED1 [18]) -increasing the robot's effective workspace and for easy transportation. Nevertheless, regardless of its highly compressibility, the Spiralift is slow to extend (max.…”

Section: Electric Telescopic Actuatorsmentioning

confidence: 99%

Particle robots A new specie of hybrid bio-inspired robotics

Mateos

2020

Preprint

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Inspired by a couple of simple organisms without eyes, neither ears. This paper presents a novel hybrid bionic robot, called "particle robot", which mix a macro-organism and a micro-organism in the same robot. On one hand, an interesting rather boring animal, the biological Echinoids (sea urchins) is mixed with the viruses micro-organisms, in specific the rotaviruses; together with spherical mobile robots. Analogously, from a pure robotic perspective, this bio-inspired robot can be seen as a spherical mobile robot wearing an actuated exoskeleton.The robot has two main configurations: when the spines are contracted it becomes a spherical mobile robot able to move in a fast pace on land, embedding all spherical mobile robots properties. On the other hand, when the spines or legs are extended in a controlled pattern, it can walk on flat surfaces as well as move on snow and over rocks as a bionic sea urchin.The spines of the robot are telescopic linear actuators, which combines soft and hard 3D print materials to make the actuation unit flexible for compressing it in minimal space and rigid for lifting the robot.

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Section: Electric Telescopic Actuatorsmentioning

confidence: 99%

Particle robots A new specie of hybrid bio-inspired robotics

Mateos

2020

Preprint

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“…As shown in figure 1, encapsulated, strategy-specific functions are aggregated in semantically coherent classes for apps, as their methods and several applets based on class methods were created for each app. The actionlib [9] provided by ROS is used in this case as the syntactic framework for the latter, resulting in an encapsulated and intuitive way of working when sequencing them within the composite skill.…”

Section: Application Examplesmentioning

confidence: 99%

Modular Robot Software Framework for the Intelligent and Flexible Composition of Its Skills

Heuss¹,

Blank²,

Dengler³

et al. 2019

IFIP Advances in Information and Communication Technology

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Current trends such as mass customization necessitate an agile and transformable production. In this context, robotic technologies are seen as a key enabler. But, to date, industrial robots lack the flexibility to easily adapt to changing needs. Therefore, a modular skill-based software framework aiming for free configurability is presented here. A generic task control allows varying incoming tasks to be processed, based on the actual skills of the robot. In this way, the flexible composition of a robot's skills can be achieved, according to the actual situation.

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“…control primitive level, control skill level, skill level and task level, where an action sequence is considered as a process. With "RoboEarth" action language [29], the action recipes consisting formal and grounded representation are stored in a database called "Action recipe database", and shared through "RoboEarth". However, these action recipes can only be used to execute pre-programmed tasks, and lack flexibility if applied in the dynamic environment because it cannot predict the state of the environment as well as of the robot.…”

Section: Ontologies and Other Knowledge Representation Techniquesmentioning

confidence: 99%

Approaches for Action Sequence Representation in Robotics: A Review

Nakawala

Gonçalves

Fiorini

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Robust representation of actions and its sequences for complex robotic tasks would transform robot's understanding to execute robotic tasks efficiently. The challenge is to understand action sequences for highly unstructured environments and to represent and construct action and action sequences. In this manuscript, we present a review of literature dealing with representation of action and action sequences for robot task planning and execution. The methodological review was conducted using Google Scholar and IEEE Xplore, searching the specific keywords. This manuscript gives an overview of current approaches for representing action sequences in robotics. We propose a classification of different methodologies used for action sequences representation and describe the most important aspects of the reviewed publications. This review allows the reader to understand several options that do exist in the research community, to represent and deploy such action representations in real robots.

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Integrating planning and execution for ROS enabled service robots using hierarchical action representations

Cited by 7 publications

References 24 publications

Particle robots A new specie of hybrid bio-inspired robotics

Particle robots A new specie of hybrid bio-inspired robotics

Modular Robot Software Framework for the Intelligent and Flexible Composition of Its Skills

Approaches for Action Sequence Representation in Robotics: A Review

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