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Towards Reorientation with a Humanoid Robot

  • Conference paper
Leveraging Applications of Formal Methods, Verification, and Validation (ISoLA 2011)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 336))

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Abstract

Current cognitive vision systems and autonomous robots are not able to flexibly adapt to novel scenes. For example, when entering a new kitchen it is relatively simple for humans to adapt to the new situation. However, there exist no methods such that a robot holds a generic kitchen model that is then adapted to the new situation. We tackle this by developing a hierarchical ontology system linking process, object, and abstract world knowledge via connecting ontologies, all defined in a formal description language.

The items and objects and their affordances in the object ontology are either learned from 3D models of the Web or from samples. We bind the features of the learned models to the concepts represented in the ontology. This enables us to actively search for objects to be expected to be seen in a kitchen scenario. The search for the objects will use the selection of cues appropriate to the relevant object. We plan to evaluate this model in three different kitchens with a mobile robot with an arm and further with Romeo, a humanoid robot designed by Aldebaran to operate in homes.

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Author information

Authors and Affiliations

  1. Institute of Computer Technology, Vienna University of Technology, Gusshausstrasse 27/384, 1040, Vienna, Austria

    Dietmar Bruckner & Isabella Hinterleitner

  2. Automation and Control Institute, Vienna University of Technology, Gusshausstrasse 29/384, 1040, Vienna, Austria

    Markus Vincze

Authors
  1. Dietmar Bruckner
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  2. Markus Vincze
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  3. Isabella Hinterleitner
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Software Engineering Group, TU Darmstadt, Hochschulstr. 10, 64289, Darmstadt, Germany

    Reiner Hähnle

  2. Institute of Computer Languages, TU Vienna, Faculty of Informatics, Argentinierstr. 8 / E185.1, 1040, Vienna, Austria

    Jens Knoop

  3. Institute of Informatics, Service and Software Engineering Group, University Potsdam, August-Bebel-Str. 89, 14482, Potsdam, Germany

    Tiziana Margaria

  4. Faculty of Informatics, Institute of Computer Languages, TU Vienna, Argentinierstr. 8 / E185.1, 1040, Vienna, Austria

    Dietmar Schreiner

  5. Faculty of Informatics, Chair of Programming Systems, TU Dortmund, Otto-Hahn-Str. 14, 44227, Dortmund, Germany

    Bernhard Steffen

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© 2012 Springer-Verlag Berlin Heidelberg

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Bruckner, D., Vincze, M., Hinterleitner, I. (2012). Towards Reorientation with a Humanoid Robot. In: Hähnle, R., Knoop, J., Margaria, T., Schreiner, D., Steffen, B. (eds) Leveraging Applications of Formal Methods, Verification, and Validation. ISoLA 2011. Communications in Computer and Information Science, vol 336. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-34781-8_13

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  • DOI: https://doi.org/10.1007/978-3-642-34781-8_13

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-34780-1

  • Online ISBN: 978-3-642-34781-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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