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| Title: | Robots on Self-Organizing Knowledge Networks |
| Authors: | Chong, Nak Young
Hongu, Hiroshi
Miyazaki, Manabu
Takemura, Koji
Ohara, Kenichi
Ohba, Kohtaro
Hirai, Shigeoki
Tanie, Kazuo |
| Issue Date: | 2004 |
| Publisher: | Institute of Electrical and Electronics Engineers (IEEE) |
| Magazine name: | Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA '04 |
| Start page: | 3494 |
| End page: | 3499 |
| DOI: | 10.1109/ROBOT.2004.1308794 |
| Abstract: | In this work, we propose a new framework for better deployment and utilization of robots in our uncertain, unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with many challenges in the user programming, this work is to provide an open environment for building robot programming automatically, where we have robots learn how to accomplish commanded tasks interacting with the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided by the robot manufacturer. The main contributions of this work is to develop the knowledge integrator platform that we call Omniscient Organizer that generates the application programs and send them to the robot controller through networks. In the Omniscient Organizer, the object-related information downloaded from the object Web server merges into robot control software based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform common household tasks such as clearing the table within the proposed framework. |
| Rights: | Copyright (C) 2004 IEEE. Reprinted from Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA '04, 2004, 3494-3499. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of JAIST's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. |
| URI: | http://hdl.handle.net/10119/9755 |
| Material Type: | publisher |
| Appears in Collections: | b11-1. 会議発表論文・発表資料 (Conference Papers)
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