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Article

PMK—A Knowledge Processing Framework for Autonomous Robotics Perception and Manipulation

Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, 08034 Barcelona, Spain
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Sensors 2019, 19(5), 1166; https://doi.org/10.3390/s19051166
Received: 28 January 2019 / Revised: 25 February 2019 / Accepted: 1 March 2019 / Published: 7 March 2019
(This article belongs to the Section Intelligent Sensors)
Autonomous indoor service robots are supposed to accomplish tasks, like serve a cup, which involve manipulation actions. Particularly, for complex manipulation tasks which are subject to geometric constraints, spatial information and a rich semantic knowledge about objects, types, and functionality are required, together with the way in which these objects can be manipulated. In this line, this paper presents an ontological-based reasoning framework called Perception and Manipulation Knowledge (PMK) that includes: (1) the modeling of the environment in a standardized way to provide common vocabularies for information exchange in human-robot or robot-robot collaboration, (2) a sensory module to perceive the objects in the environment and assert the ontological knowledge, (3) an evaluation-based analysis of the situation of the objects in the environment, in order to enhance the planning of manipulation tasks. The paper describes the concepts and the implementation of PMK, and presents an example demonstrating the range of information the framework can provide for autonomous robots.
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Keywords: perception knowledge; knowledge-based reasoning; task-motion planning perception knowledge; knowledge-based reasoning; task-motion planning
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Figure 1

  • Externally hosted supplementary file 1
    Doi: https://sir.upc.edu/projects/kautham/videos/PMK-final.mp4
    Link: https://sir.upc.edu/projects/kautham/videos/PMK-final.mp4
    Description: The video shows the importance of PMK Knowledge-based reasoning framework in manipulation table-top problem executed at IOC-Lab. The video has been divided into three main parts: 1) world description (IOC-Lab), 2) PMK results (inference process) about the robot capability and 3) real experiment. This video does not use any special codecs.
MDPI and ACS Style

Diab, M.; Akbari, A.; Ud Din, M.; Rosell, J. PMK—A Knowledge Processing Framework for Autonomous Robotics Perception and Manipulation. Sensors 2019, 19, 1166. https://doi.org/10.3390/s19051166

AMA Style

Diab M, Akbari A, Ud Din M, Rosell J. PMK—A Knowledge Processing Framework for Autonomous Robotics Perception and Manipulation. Sensors. 2019; 19(5):1166. https://doi.org/10.3390/s19051166

Chicago/Turabian Style

Diab, Mohammed, Aliakbar Akbari, Muhayy Ud Din, and Jan Rosell. 2019. "PMK—A Knowledge Processing Framework for Autonomous Robotics Perception and Manipulation" Sensors 19, no. 5: 1166. https://doi.org/10.3390/s19051166

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