The task of picking up boxes using a robotic manipulator based on semantic knowledge
Ozturk, Satuk Bugrahan, Uguz, Sezer, Ozyer, Baris, Coskuncay, Ahmet
The task of picking up boxes and stacking them in another location is a relatively simple one for humans, however, it is particularly challenging for robots. The robot must first detect and recognize objects in its immediate environment. Following this, a task should be defined for the robot to perform. Having considered the environment, the robot will then be required to design and control a trajectory that is appropriate to its constraints. In this study, we present a semantic approach for the robotic manipulator to perceive the environment, plan the trajectory, and perform the tasks. We have designed an autonomous robotic arm ontology (ARAO) for describing the tasks and the environment in order to control robot movements. SPARQL queries running on RDF will be used to access and update the ontology model. We planned experiments on a robotic simulator that is integrated with an ontology model using the Jena API. Our preliminary findings provide us with insights into how semantic knowledge representation can be used to accomplish complex tasks via robotic manipulators in more complicated situations.
- Dergi
- JOINT ONTOLOGY WORKSHOPS, JOWO 2022
- Yıl
- 2022
- Cilt
- 3249
- ISSN
- 1613-0073
- WoS UID
- WOS:001694460500007