An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots

Riccardo Bertolucci; Alessio Capitanelli; Carmine Dodaro; Nicola Leone; Marco Maratea; Fulvio Mastrogiovanni; Mauro Vallati

doi:10.1007/978-3-030-20528-7_3

An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots

Riccardo Bertolucci, Alessio Capitanelli, Carmine Dodaro, Nicola Leone, Marco Maratea, Fulvio Mastrogiovanni, Mauro Vallati

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

The manipulation of articulated objects is of primary importance in robotics, and is one of the most complex robotics tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, that lack of flexibility and portability. In this paper we present a framework based on Answer Set Programming (ASP) for the automated manipulation of articulated objects in a robot architecture. In particular, ASP is employed for representing the configuration of the articulated object, for checking the consistency of the knowledge base, as well as for generating the sequence of manipulation actions. The framework is validated both in simulation and on the Baxter dual-arm manipulator, showing the applicability of the ASP methodology in this complex application scenario.

Original language	English
Title of host publication	Logic Programming and Nonmonotonic Reasoning
Subtitle of host publication	15th International Conference, LPNMR 2019, Philadelphia, PA, USA, June 3-7, 2019, Proceedings
Editors	Marcello Balduccini, Yuliya Lierler, Stefan Woltran
Publisher	Springer International Publishing AG
Pages	32-44
Number of pages	13
Volume	LNAI 11481
ISBN (Electronic)	9783030205287
ISBN (Print)	9783030205270
DOIs	https://doi.org/10.1007/978-3-030-20528-7_3
Publication status	Published - 13 Jul 2019
Event	15th International Conference on Logic Programming and Nonmonotonic Reasoning - Philadelphia, United States Duration: 3 Jun 2019 → 7 Jun 2019 Conference number: 15

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	11481 LNAI
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Conference

Conference	15th International Conference on Logic Programming and Nonmonotonic Reasoning
Abbreviated title	LPNMR 2019
Country/Territory	United States
City	Philadelphia
Period	3/06/19 → 7/06/19

Access to Document

10.1007/978-3-030-20528-7_3Licence: Unspecified

ASP_Robotic_Framework_SystemAccepted author manuscript, 1.84 MBLicence: Unspecified

Cite this

Bertolucci, R., Capitanelli, A., Dodaro, C., Leone, N., Maratea, M., Mastrogiovanni, F., & Vallati, M. (2019). An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots. In M. Balduccini, Y. Lierler, & S. Woltran (Eds.), Logic Programming and Nonmonotonic Reasoning: 15th International Conference, LPNMR 2019, Philadelphia, PA, USA, June 3-7, 2019, Proceedings (Vol. LNAI 11481, pp. 32-44). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11481 LNAI). Springer International Publishing AG. https://doi.org/10.1007/978-3-030-20528-7_3

Bertolucci, Riccardo ; Capitanelli, Alessio ; Dodaro, Carmine et al. / An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots. Logic Programming and Nonmonotonic Reasoning: 15th International Conference, LPNMR 2019, Philadelphia, PA, USA, June 3-7, 2019, Proceedings. editor / Marcello Balduccini ; Yuliya Lierler ; Stefan Woltran. Vol. LNAI 11481 Springer International Publishing AG, 2019. pp. 32-44 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)).

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title = "An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots",

abstract = "The manipulation of articulated objects is of primary importance in robotics, and is one of the most complex robotics tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, that lack of flexibility and portability. In this paper we present a framework based on Answer Set Programming (ASP) for the automated manipulation of articulated objects in a robot architecture. In particular, ASP is employed for representing the configuration of the articulated object, for checking the consistency of the knowledge base, as well as for generating the sequence of manipulation actions. The framework is validated both in simulation and on the Baxter dual-arm manipulator, showing the applicability of the ASP methodology in this complex application scenario.",

author = "Riccardo Bertolucci and Alessio Capitanelli and Carmine Dodaro and Nicola Leone and Marco Maratea and Fulvio Mastrogiovanni and Mauro Vallati",

year = "2019",

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editor = "Marcello Balduccini and Yuliya Lierler and Stefan Woltran",

booktitle = "Logic Programming and Nonmonotonic Reasoning",

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Bertolucci, R, Capitanelli, A, Dodaro, C, Leone, N, Maratea, M, Mastrogiovanni, F & Vallati, M 2019, An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots. in M Balduccini, Y Lierler & S Woltran (eds), Logic Programming and Nonmonotonic Reasoning: 15th International Conference, LPNMR 2019, Philadelphia, PA, USA, June 3-7, 2019, Proceedings. vol. LNAI 11481, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 11481 LNAI, Springer International Publishing AG, pp. 32-44, 15th International Conference on Logic Programming and Nonmonotonic Reasoning, Philadelphia, Pennsylvania, United States, 3/06/19. https://doi.org/10.1007/978-3-030-20528-7_3

An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots. / Bertolucci, Riccardo; Capitanelli, Alessio; Dodaro, Carmine et al.

Logic Programming and Nonmonotonic Reasoning: 15th International Conference, LPNMR 2019, Philadelphia, PA, USA, June 3-7, 2019, Proceedings. ed. / Marcello Balduccini; Yuliya Lierler; Stefan Woltran. Vol. LNAI 11481 Springer International Publishing AG, 2019. p. 32-44 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 11481 LNAI).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots

AU - Bertolucci, Riccardo

AU - Capitanelli, Alessio

AU - Dodaro, Carmine

AU - Leone, Nicola

AU - Maratea, Marco

AU - Mastrogiovanni, Fulvio

AU - Vallati, Mauro

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AB - The manipulation of articulated objects is of primary importance in robotics, and is one of the most complex robotics tasks. Traditionally, this problem has been tackled by developing ad-hoc approaches, that lack of flexibility and portability. In this paper we present a framework based on Answer Set Programming (ASP) for the automated manipulation of articulated objects in a robot architecture. In particular, ASP is employed for representing the configuration of the articulated object, for checking the consistency of the knowledge base, as well as for generating the sequence of manipulation actions. The framework is validated both in simulation and on the Baxter dual-arm manipulator, showing the applicability of the ASP methodology in this complex application scenario.

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T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

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BT - Logic Programming and Nonmonotonic Reasoning

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Bertolucci R, Capitanelli A, Dodaro C, Leone N, Maratea M, Mastrogiovanni F et al. An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots. In Balduccini M, Lierler Y, Woltran S, editors, Logic Programming and Nonmonotonic Reasoning: 15th International Conference, LPNMR 2019, Philadelphia, PA, USA, June 3-7, 2019, Proceedings. Vol. LNAI 11481. Springer International Publishing AG. 2019. p. 32-44. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). Epub 2019 May 12. doi: 10.1007/978-3-030-20528-7_3

An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots

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