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In the growing interest about robot ontologies, the role of description logics (DL) used to query the ontology is often neglected. After discussing the representation problems of using on-tologies for robotics problems, we develop two case studies relevant for dexterous manipula-tion, grasping unknown objects and understanding objects as the sum of their parts. We develop knowledge bases for solving those problems, and examine the possible queries that could be answered. We observe that the creation of such relationships in ontologies can follow an embodied approach, letting the robot to create new relationships from experiments, so making knowledge acquisition an embodied and iterative process.

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This page is a summary of: Reasoning on objects and grasping using description logics, Advanced Robotics, July 2019, Taylor & Francis,
DOI: 10.1080/01691864.2019.1638452.
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