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Document type:
Masterarbeit 
Author(s):
Benjamin Degenhart 
Title:
Formal specification of the semantics of grasping using the Web Ontology Language (OWL) and integration into a robot programming GUI 
Translated title:
Formal specification of the semantics of grasping using the Web Ontology Language (OWL) and integration into a robot programming GUI 
Abstract:
In this thesis the semantics of grasping get developed first conceptually, then modelled ontologically and finally implemented in fortiss’ Robot Instruction Framework. The ad- vantage of doing this on a symbolic level compared to classical grasp planning approaches is that it saves a lot of computational effort and allows semantically meaningful reasoning about grasp modes. By logically guaranteeing incompabilities, the remaining search space for subsymbolic methods shrinks considerably. The bas...    »
 
Translated abstract:
In this thesis the semantics of grasping get developed first conceptually, then modelled ontologically and finally implemented in fortiss’ Robot Instruction Framework. The ad- vantage of doing this on a symbolic level compared to classical grasp planning approaches is that it saves a lot of computational effort and allows semantically meaningful reasoning about grasp modes. By logically guaranteeing incompabilities, the remaining search space for subsymbolic methods shrinks considerably. The bas...    »
 
Keywords:
ontology, semantics, grasping, robots 
Subject:
DAT Datenverarbeitung, Informatik 
DDC:
000 Informatik, Wissen, Systeme 
Advisor:
Perzylo, Alexander 
Referee:
Knoll, Alois Christian (Prof. Dr. habil.) 
Date of acceptation:
15.03.2019 
Year:
2019 
Pages:
78 
Language:
en 
Language from translation:
en 
University:
Technische Universität München 
Faculty:
Fakultät für Informatik