Qualitative Spatial Ontologies for Robot Dynamics

Following Smith and Gasser’s work on embodied cognition, one can consider a robot as an intelligent agent that interacts with its external environment through sensorimotor activities, such as touching, lifting, standing, sitting, and walking. In this paper we explore the ontologies that are required to represent and reason about robot dynamics. We propose new ontologies for robotic components and poses, including a new nonclassical mereotopology for touch contact. The design of the ontologies is driven by semantic parsing of natural language instructions (e.g. “Lift the box that is beside the chair and place it on the table"), through which we identify the spatial and mereotopological relations among a robot’s components and the external world, as well as the activities that the robot can perform to change these relationships.

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