NDLI: CRAM — A Cognitive Robot Abstract Machine for everyday manipulation in human environments

Content Provider	IEEE Xplore Digital Library
Author	Beetz, M. Mösenlechner, L. Tenorth, M.
Copyright Year	2010
Description	Author affiliation: Intelligent Autonomous Systems Group, Department of Informatics, Technische Universität München, Boltzmannstr. 3, D-85748 Garching, Germany (Beetz, M.; Mösenlechner, L.; Tenorth, M.)
Abstract	This paper describes CRAM (Cognitive Robot Abstract Machine) as a software toolbox for the design, the implementation, and the deployment of cognition-enabled autonomous robots performing everyday manipulation activities. CRAM equips autonomous robots with lightweight reasoning mechanisms that can infer control decisions rather than requiring the decisions to be preprogrammed. This way CRAM-programmed autonomous robots are much more flexible, reliable, and general than control programs that lack such cognitive capabilities. CRAM does not require the whole domain to be stated explicitly in an abstract knowledge base. Rather, it grounds symbolic expressions in the knowledge representation into the perception and actuation routines and into the essential data structures of the control programs. In the accompanying video, we show complex mobile manipulation tasks performed by our household robot that were realized using the CRAM infrastructure.
Starting Page	1012
Ending Page	1017
File Size	2720927
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5650146
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cognition Computer architecture Robot control Robot sensing systems Kernel Trajectory
Content Type	Text
Resource Type	Article

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