Ontologies

Terminology and glossary for mobile manipulation & service robotics

Definitions

State of the Art

The State of the Art with regards to the glossary section has been divided in to: Websites, Books/Publications, International Standards.

Websites
- Wikipedia Robotics
- Wikibook Robotics

Books/Publications
- World Robotics, Service Robots (IFR Statistical Department)
- 2007 Robotics Industries Directory

International Standards
- ISO 8373 Manipulating industrial robots -- Vocabulary
- ISO 9787 Manipulating industrial robots -- Coordinate systems and motion nomenclatures
- ISO 11593 Manipulating industrial robots -- Automatic end effector exchange systems -- Vocabulary and presentation of characteristics
- ISO 14539 Manipulating industrial robots -- Object handling with grasp-type grippers -- Vocabulary and presentation of characteristics
- ASTM F2541-06 Standard Guide for Unmanned Undersea Vehicles (UUV) Autonomy and Control
- ASTM E2521-07 Standard Termninology for Urban Search and Rescue Robotic Operations

Subjects

Glossary Structure (Draft)

1. Robot Architectures
   • Structure
   • Style
   • Design (with arms, legs, wheels, other propulsion, micro/nano, etc…)
2. Mechanical Structure
   • Links
   • Joints
   • Actuators
   • Transmission
3. Motion
   • Planning
   • Control
4. Physical interaction
   • Indirect force control
   • Direct force control
5. Social interaction, communication and cooperation
   • Human-Robot
   • Robot-Robot
6. Sensors and perception
   • Force
   • Tactile
   • Position
   • Sound
   • Range
   • Vision
7. Performance
   • Speed and acceleration
   • Repeatability
   • Resolution
   • Accuracy
   • Life and duty cycle
   • Collisions
8. Mathematics and Physics
   • Kinematics
   • Dynamics
9. Application Domain
   • Remote control (telerobotics, communication, etc…)
   • Type (underwater, aerial, space, land)
   • Usage (Industrial, agriculture, construction, mining, rescue, medical, domestic, entertainment, education, rehabilitation, therapy)
   • Human (robot-human interaction, humanoids, etc...)
   • Life-like robots (biologically inspired, evolutionary)

Experts

Expert List

• Bruyninckx Herman
• Burgard Wolfram
• Lima Pedro
• Metta Giorgio
• Alami Rachid
• Kerstin Dautenhahn

Mailing list "ontology"

List created Nov 21, 2007 (updated Jan 24, 2007):

• Paolo Fiorini: fiorini@profs.sci.univr.it
• Erwin Prassler: erwin.prassler@fh-brs.de
• Tetsuo Kotoku (AIST): t.kotoku@aist.go.jp
• Hideki Hashimoto (Univ. Tokyo): hashimoto@iis.u-tokyo.ac.jp
• Klas Nilson (Lund Univ.): klas@cs.lth.se
• Hadi Moradi: moradi@usc.edu
• Paul Schermerhorn: pscherme@indiana.edu
• Sukhan Lee (SKKU): lsh@ece.skku.ac.kr
• Craig Schlenoff (NIST): craig.schlenoff@nist.gov
• Brian A. Weiss (NIST): brian.weiss@nist.gov
• Takahiro Miyashita (ATR): miyasita@atr.jp
• Christian Sauter (U. Karlsruhe): sauter@ipek.uni-karlsruhe.de
• Catherina Burghart: burghart@ira.uka.de
• Ralf Mikut: ralf.mikut@iai.fzk.de
• Herman Bruyninckx: herman.bruyninckx@mech.kuleuven.be
• Lars Dalgaard: lda@mmmi.sdu.dk
• Hui Huang hui-min.huang@nist.gov