2.50
Hdl Handle:
http://hdl.handle.net/10547/272953
Title:
Fuzzy logic based symbolic grounding for best grasp pose for homecare robotics
Authors:
Liu, Beisheng; Li, Dayou; Yue, Yong; Maple, Carsten; Gu, Shuang; Qiu, Renxi
Abstract:
Symbolic grounding in unstructured environments remains an important challenge in robotics [7]. Homecare robots are often required to be instructed by their human users intuitively, which means the robots are expected to take highlevel commands and execute corresponding tasks in a domestic environment. High-level commands are represented with symbolic terms such as “near” and “close” and, on the other hand, robots are controlled based on trajectories. The robots need to translate the symbolic terms to trajectories. In addition, domestic environment is unstructured where the same objects can be placed in different places over the time. This increases the difficulties in symbolic grounding. This paper presents a fuzzy logic based approach to symbolic grounding. In this approach, grounded concepts are modelled as fuzzy sets and the existing knowledge is used to deduce grounded values given real-time sensory inputs. Experiments results show that this approach works well in unstructured environment.
Affiliation:
University of Bedfordshire
Citation:
Beisheng Liu;, Dayou Li, Yong Yue, Maple, C., Shuang Gu, Renxi Qiu, (2012) 'Fuzzy logic based symbolic grounding for best grasp pose for homecare robotics', Industrial Informatics (INDIN), 10th IEEE International Conference on , pp.1164-1169, 25-27 July 2012
Publisher:
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Issue Date:
2012
URI:
http://hdl.handle.net/10547/272953
DOI:
10.1109/INDIN.2012.6300855
Additional Links:
http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6300855
Type:
Conference papers, meetings and proceedings
Language:
en
ISBN:
9781467303125
Appears in Collections:
Centre for Research in Distributed Technologies (CREDIT)

Full metadata record

DC FieldValue Language
dc.contributor.authorLiu, Beishengen_GB
dc.contributor.authorLi, Dayouen_GB
dc.contributor.authorYue, Yongen_GB
dc.contributor.authorMaple, Carstenen_GB
dc.contributor.authorGu, Shuangen_GB
dc.contributor.authorQiu, Renxien_GB
dc.date.accessioned2013-03-15T11:38:55Z-
dc.date.available2013-03-15T11:38:55Z-
dc.date.issued2012-
dc.identifier.citationBeisheng Liu;, Dayou Li, Yong Yue, Maple, C., Shuang Gu, Renxi Qiu, (2012) 'Fuzzy logic based symbolic grounding for best grasp pose for homecare robotics', Industrial Informatics (INDIN), 10th IEEE International Conference on , pp.1164-1169, 25-27 July 2012en_GB
dc.identifier.isbn9781467303125-
dc.identifier.doi10.1109/INDIN.2012.6300855-
dc.identifier.urihttp://hdl.handle.net/10547/272953-
dc.description.abstractSymbolic grounding in unstructured environments remains an important challenge in robotics [7]. Homecare robots are often required to be instructed by their human users intuitively, which means the robots are expected to take highlevel commands and execute corresponding tasks in a domestic environment. High-level commands are represented with symbolic terms such as “near” and “close” and, on the other hand, robots are controlled based on trajectories. The robots need to translate the symbolic terms to trajectories. In addition, domestic environment is unstructured where the same objects can be placed in different places over the time. This increases the difficulties in symbolic grounding. This paper presents a fuzzy logic based approach to symbolic grounding. In this approach, grounded concepts are modelled as fuzzy sets and the existing knowledge is used to deduce grounded values given real-time sensory inputs. Experiments results show that this approach works well in unstructured environment.en_GB
dc.language.isoenen
dc.publisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INCen_GB
dc.relation.urlhttp://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6300855en_GB
dc.subjectfuzzy logicen_GB
dc.subjecthomecare robotsen_GB
dc.subjectroboticsen_GB
dc.subjectsymbolic groundingen_GB
dc.subjectunstructured environmentsen_GB
dc.titleFuzzy logic based symbolic grounding for best grasp pose for homecare roboticsen
dc.typeConference papers, meetings and proceedingsen
dc.contributor.departmentUniversity of Bedfordshireen_GB
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