Publikation
A framework for describing manipulation behavior
Malte Wirkus
DFKI GmbH, DFKI Documents (D), Vol. 15-01, Selbstverlag, 5/2015.
Zusammenfassung
In this talk a framework to design and control robot manipulation behavior is presented. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is applied to describe the particular robot and a controller network that drives the robot.
We make use of a) a component-based software framework (Rock), b) model-based algorithms for motionand sensor processing representations, c) an abstract model of the control system, and d) a plan management software, to describe a sequence of software component networks that generate the desired robot behavior.