Solving arbitrary manipulation tasks is a key feature for humanoid service robots. However, especially when tasks involve handling complex mechanisms or using tools, a generic action description is hard to define. Different objects require different handling methods. Therefore, a modular system architecture has been developed to autonomously solve manipulation tasks from the object point of view.
Functional Object Classes:
Hybrid Reasoning based on Object Knowledge:
Daniel Leidner, Christoph Borst, and Gerd Hirzinger, "Things Are Made for What They Are: Solving Manipulation Tasks by Using Functional Object Classes", in Proc. of the IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, November 2012, pp. 429–435.