Fuzzy Logic Based Symbolic Grounding for Best Grasp Pose for Homecare Robotics
Symbolic grounding in unstructured environments remains an important challenge in robotics 7. Homecare robots are often required to be instructed by their human users intuitively, which means the robots are expected to take highlevel commands and execute corresponding tasks in a domestic environment. High-level commands are represented with symbolic terms such as “near and “close and, on the other hand, robots are controlled based on trajectories. The robots need to translate the symbolic terms to trajectories. In addition, domestic environment is unstructured where the same objects can be placed in different places over the time. This increases the difficulties in symbolic grounding. This paper presents a fuzzy logic based approach to symbolic grounding. In this approach, grounded concepts are modelled as fuzzy sets and the existing knowledge is used to deduce grounded values given real-time sensory inputs. Experiments results show that this approach works well in unstructured environment.
symbolic grounding unstructured environments homecare robots fuzzy logic
Beisheng Liu Dayou Li Yong Yue Carsten Maple Shuang Gu Renxi Qiu
Computer Science and Technology DepartmentFaculty of Creative Arts, Technologies and ScienceUniversi Manufacturing Engineering Centre Cardiff University Newport Road, Cardiff, CF24 0YF, UK
国际会议
IEEE 10th International Conference on Industrial Informatics(第十届IEEE工业信息学国际学术会议 INDIN2012)
北京
英文
1164-1169
2012-07-25（万方平台首次上网日期，不代表论文的发表时间）