Know Rob 2.0 — A 2nd Generation Knowledge Processing Framework for Cognition-Enabled Robotic Agents

A Survey of Knowledge Representation in Service Robotics

“…As a component to this project, Tenorth et. al [44,50,51] presented KnowRob (illustrated in Figure 4) as a knowledge processing system for querying the openEASE knowledge base using Prolog predicates. KnowRob combines various sources of knowledge such as web pages (methods from instructional websites, images of 4 openEASEhttp://www.open-ease.org/ usable objects, etc.…”

“…More specifically, in the KnowRob representation from Section 2.3, one of the key aspects of the platform is to record the experiences of performing a specific task or manipulation. As in their recent work in [51], they illustrated how one robot can use the experience of opening a fridge from another robot to perform the same task; however, the exact trajectory as learned from the previous robot cannot be completely used due to differences in the state of the targeted object and its environment. Therefore, it is not simply imitating what a previous robot has done, but rather, it refines the motion to better suit the current problem.…”

Special Issue on Smart Production

“…[25] For many years, the application of knowledgebased programming techniques have been hindered by knowledge representation techniques being too abstract. Recently, new techniques have been proposed that represent symbolic knowledge at geometric level which is necessary for properly parameterizing robot motions for accomplishing manipulation tasks and avoid undesired side effects [4].…”

From sensors to sense: Integrated heterogeneous ontologies for Natural Language Generation

“…Our approach is to extend an Ontology for Everyday Activities, originally developed as part of the EASE project in robotics (Beetz et al, 2018). We base this extended ontology on the principles proposed by Masolo et al using the DOLCE+DnS Ultralite ontology (DUL) as an overarching foundational framework (Masolo et al, 2003;Mascardi et al, 2010).…”

“…The purpose of the ontology is to extend the KnowRob ontology to support more natural, commonsense interactions concerning everyday activities in robotics. Specific branches of the KnowRob knowledge model pertaining to everyday activities (Beetz et al, 2018), such as those involved in table setting, have already been aligned to the DUL framework. Additional axiomatization that is beyond the scope of description logics is integrated by means of the Distributed Ontology Language (Mossakowski, 2016).…”