The Task of Picking Up Boxes Using a Robotic Manipulator Based on Semantic Knowledge
Özet
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.
Atıf için künye
Öztürk, S. B., UĞUZ, S., Özyer, B., & Coşkunçay, A. (2022). The Task of Picking Up Boxes Using a Robotic Manipulator Based on Semantic Knowledge. Joint Ontology Workshops 2022 (JOWO 2022), Jönköping.
BibTeX
@inproceedings{ozturk2022-177595,
author = {Öztürk, Satuk Buğrahan and UĞUZ, SEZER and Özyer, Barış and Coşkunçay, Ahmet},
title = {The Task of Picking Up Boxes Using a Robotic Manipulator Based on Semantic Knowledge},
booktitle = {Joint Ontology Workshops 2022 (JOWO 2022)},
address = {Jönköping},
year = {2022},
url = {https://akademik.atauni.edu.tr/yayinlar/177595-the-task-of-picking-up-boxes-using-a-robotic-manipulator-based-on-semantic}
}