000 02805nam a22005055i 4500
001 978-3-642-25182-5
003 DE-He213
005 20140220083305.0
007 cr nn 008mamaa
008 120111s2012 gw | s |||| 0|eng d
020 _a9783642251825
_9978-3-642-25182-5
024 7 _a10.1007/978-3-642-25182-5
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aZacharias, Franziska.
_eauthor.
245 1 0 _aKnowledge Representations for Planning Manipulation Tasks
_h[electronic resource] /
_cby Franziska Zacharias.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2012.
300 _aXII, 148p. 85 illus., 77 illus. in color.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aCognitive Systems Monographs,
_x1867-4925 ;
_v16
505 0 _aReview of the Literature -- Robot performance indices -- Modeling the robot workspace -- Visualization and setup evaluation -- Application in planning.
520 _aIn this book, the capability map, a novel general representation of the kinematic capabilities of a robot arm, is introduced. The capability map allows to determine how well regions of the workspace are reachable for the end effector in different orientations. It is a representation that can be machine processed as well as intuitively visualized for the human. The capability map and the derived algorithms are a valuable source of information for high- and low-level planning processes. The versatile applicability of the capability map is shown by examples from several distinct application domains. In human-robot interaction, a bi-manual interface for tele-operation is objectively evaluated. In low-level geometric planning, more human-like motion is planned for a humanoid robot while also reducing the computation time. And in high-level task reasoning, the suitability of a robot for a task is evaluated.    
650 0 _aEngineering.
650 0 _aComputer science.
650 0 _aArtificial intelligence.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aComputational Intelligence.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aUser Interfaces and Human Computer Interaction.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783642251818
830 0 _aCognitive Systems Monographs,
_x1867-4925 ;
_v16
856 4 0 _uhttp://dx.doi.org/10.1007/978-3-642-25182-5
912 _aZDB-2-ENG
999 _c102389
_d102389