Abstract
In this paper we address the problem of automatic design of the abstract structure of a robot. The design is driven by the desired capabilities that the robot should be able to perform. To this aim, an extension for the IEEE Standard Ontology for Robotics and Automation has been developed. We present an intelligent system which infers abstract robot morphologies from this ontology by relating robot actions to necessary structural parts. Then, these abstract structures can be materialized into physical robots that are able to perform requested capabilities. We show this implementation using a modular robotics platform as a demonstrator.
This work is partly supported by the Centre for the Development of Industrial Technologies (CDTI) and the company Mundo Reader S.L. under the project BOTBLOQ: Integral ecosystem for the design, manufacturing and programming of DIY robots.
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Ramos, F., Olivares-Alarcos, A., Vázquez, A.S., Fernández, R. (2018). What Can Ontologies Do for Robot Design?. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_38
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DOI: https://doi.org/10.1007/978-3-319-70833-1_38
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