comunicación de congreso
Robotic architecture to map an action language to a low level motion commands for skillful manipulation
Fecha
2020Registro en:
978-1-7281-4390-3
10.1109/ITNEC48623.2020.9084782
322-B6-279
Autor
Suárez Bonilla, Félix David
Ruiz Ugalde, Federico
Institución
Resumen
This paper gives an overview of a robotic
architecture meant for skillful manipulation. This design is
meant to close the gap between the high-level layer (reasoning
and planing layer) and the object model system (physical control
layer). This architecture proposes an interface layer that allows,
in a meaningful way, to connect atomic tasks with controller
inputs. In this paper, we discuss how specific complex tasks can
be resolved by this system; we analyze the affordance unit design
and, we overview the future challenges in the implemenation of
the whole system.