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 proceedingConference contribution

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.
LanguageEnglish
Title of host publicationLogic Programming and Nonmonotonic Reasoning
Subtitle of host publication15th International Conference, LPNMR 2019, Philadelphia, PA, USA, June 3-7, 2019, Proceedings
EditorsMarcello Balduccini, Yuliya Lierler, Stefan Woltran
PublisherSpringer International Publishing AG
Pages32-44
Number of pages13
VolumeLNAI 11481
ISBN (Electronic)9783030205287
ISBN (Print)9783030205270
Publication statusPublished - 13 May 2019
Event15th International Conference on Logic Programming and Nonmonotonic Reasoning, LPNMR 2019 - Philadelphia, United States
Duration: 3 Jun 20197 Jun 2019

Publication series

NameLecture Notes in Artificial Intelligence
PublisherSpringer International Publishing
Volume11481
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference15th International Conference on Logic Programming and Nonmonotonic Reasoning, LPNMR 2019
CountryUnited States
CityPhiladelphia
Period3/06/197/06/19

Fingerprint

Robotics
Robots
Manipulators

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 Artificial Intelligence; Vol. 11481). Springer International Publishing AG.
Bertolucci, Riccardo ; Capitanelli, Alessio ; Dodaro, Carmine ; Leone, Nicola ; Maratea, Marco ; Mastrogiovanni, Fulvio ; Vallati, Mauro. / 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 Artificial Intelligence).
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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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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 Artificial Intelligence, vol. 11481, Springer International Publishing AG, pp. 32-44, 15th International Conference on Logic Programming and Nonmonotonic Reasoning, LPNMR 2019, Philadelphia, United States, 3/06/19.

An ASP-Based Framework for the Manipulation of Articulated Objects using Dual-Arm Robots. / Bertolucci, Riccardo; Capitanelli, Alessio; Dodaro, Carmine; Leone, Nicola; Maratea, Marco; Mastrogiovanni, Fulvio; Vallati, Mauro.

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 Artificial Intelligence; Vol. 11481).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

TY - GEN

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

PY - 2019/5/13

Y1 - 2019/5/13

N2 - 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.

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.

M3 - Conference contribution

SN - 9783030205270

VL - LNAI 11481

T3 - Lecture Notes in Artificial Intelligence

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BT - Logic Programming and Nonmonotonic Reasoning

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PB - Springer International Publishing AG

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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 Artificial Intelligence).