Knowledge-Based Servoing: Plugging Symbolic Theories into Robotic Controllers

This virtual research lab explores reactive motion generation through reasoning. We propose image schema-based reasoning for decision-making within motion controllers. Our reasoner is tightly coupled with the controller, continuously monitoring actions and inferring motion primitives to adapt to dynamic environments. The symbolic theory and the reasoner evaluating it can be exchanged in a plug and play way. By providing real-time feedback, the reasoner enables the controller to make informed decisions and generate appropriate motion responses.

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