MaestROB: A Robotics Framework for Integrated Orchestration of Low-Level Control and High-Level Reasoning

06/03/2018
by   Asim Munawar, et al.
0

This paper describes a framework called MaestROB. It is designed to make the robots perform complex tasks with high precision by simple high-level instructions given by natural language or demonstration. To realize this, it handles a hierarchical structure by using the knowledge stored in the forms of ontology and rules for bridging among different levels of instructions. Accordingly, the framework has multiple layers of processing components; perception and actuation control at the low level, symbolic planner and Watson APIs for cognitive capabilities and semantic understanding, and orchestration of these components by a new open source robot middleware called Project Intu at its core. We show how this framework can be used in a complex scenario where multiple actors (human, a communication robot, and an industrial robot) collaborate to perform a common industrial task. Human teaches an assembly task to Pepper (a humanoid robot from SoftBank Robotics) using natural language conversation and demonstration. Our framework helps Pepper perceive the human demonstration and generate a sequence of actions for UR5 (collaborative robot arm from Universal Robots), which ultimately performs the assembly (e.g. insertion) task.

READ FULL TEXT

page 6

page 7

page 8

research
06/09/2016

Understanding User Instructions by Utilizing Open Knowledge for Service Robots

Understanding user instructions in natural language is an active researc...
research
11/21/2019

Teaching Perception

The visual world is very rich and generally too complex to perceive in i...
research
07/17/2020

Task-oriented Motion Mapping on Robots of Various Configuration using Body Role Division

Many works in robot teaching either focus on teaching a high-level abstr...
research
11/10/2017

FunTAL: Reasonably Mixing a Functional Language with Assembly

We present FunTAL, the first multi-language system to formalize safe int...
research
06/05/2022

Conceptual Design of the Memory System of the Robot Cognitive Architecture ArmarX

We consider the memory system as a key component of any technical cognit...
research
05/21/2014

HATP: An HTN Planner for Robotics

Hierarchical Task Network (HTN) planning is a popular approach that cuts...
research
09/23/2022

Solving Robot Assembly Tasks by Combining Interactive Teaching and Self-Exploration

Many high precision (dis)assembly tasks are still being performed by hum...

Please sign up or login with your details

Forgot password? Click here to reset