Robot manipulation in everyday activities with the CRAM 2.0 cognitive architecture and generalized action plans

摘要

The CRAM 2.0 robot cognitive architecture provides a framework for knowledge-based instantiation of robot manipulation design patterns for everyday activities. These design patterns take the form of generalized action plans, which are transformed by CRAM 2.0 into parameterized low-level motion plans, using knowledge and reasoning with a contextual model to identify the motion parameter values that will successfully perform the actions required to accomplish the task. In this way, CRAM 2.0 performs implicit-to-explicit manipulation, mapping an under-specified high-level goal to the specific low-level motions required to accomplish the goal. We demonstrate the ability of a CRAM-controlled robot to carry out everyday activities in a kitchen environment.