NDLI: Behavior-based manipulator programming based on Extensible Agent Behavior Specification Language

Content Provider	IEEE Xplore Digital Library
Author	Hsien-I Lin Chia-Hsien Cheng
Copyright Year	2014
Description	Author affiliation: Grad. Inst. of Autom. Technol., Nat. Taipei Univ. of Technol., Taipei, Taiwan (Hsien-I Lin; Chia-Hsien Cheng)
Abstract	Endowing a robot with skills to perform manipulative tasks has an important role in developing an intelligent robot. To manipulate objects, a robot needs perception and action skills. However, designing the programming framework to integrate a variety of skills in a robot system is a challenging task and significantly influences the robot performance. In this paper, we present a behavior-based manipulator programming framework which is based on Extensible Agent Behavior Specification Language (XABSL) to manage behaviors in a robot system. To achieve the flexibility and reusability of robot behaviors required for practice applications, the proposed concept is to implement a programming framework for robot manipulation into two steps: first, perception and action behaviors are created to endow a robot with fundamental skills to perform manipulative tasks; second, using the XABSL framework, the created behaviors are simply planned by an option graph. Because behaviors are planned to be activated by certain stimuli and respond accordingly, programming robot manipulative tasks becomes simpler. Moreover, by the programming framework for robot manipulative tasks, the programming effort is reduced considerably. In our experiments, we provide an extensive validation of the proposed behavior-based programming framework on the manipulative tasks such as stacking cubes and solving rubik's cube.
Starting Page	808
Ending Page	813
File Size	1342980
Page Count	6
File Format	PDF
ISSN	20937121
e-ISBN	9788993215076
DOI	10.1109/ICCAS.2014.6987890
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-22
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	Institute of Control, Robotics and Systems (ICROS)
Subject Keyword	Extensible Agent Behavior Specification Language (XABSL) Stacking manipulative tasks Complexity theory Behavior-based Robots
Content Type	Text
Resource Type	Article

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