{"id":"https://openalex.org/W4387143386","doi":"https://doi.org/10.1109/case56687.2023.10260413","title":"Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks","display_name":"Using Knowledge Representation and Task Planning for Robot-agnostic Skills on the Example of Contact-Rich Wiping Tasks","publication_year":2023,"publication_date":"2023-08-26","ids":{"openalex":"https://openalex.org/W4387143386","doi":"https://doi.org/10.1109/case56687.2023.10260413"},"language":"en","primary_location":{"id":"doi:10.1109/case56687.2023.10260413","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/case56687.2023.10260413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5077454772","display_name":"Matthias Mayr","orcid":"https://orcid.org/0000-0002-2780-1233"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Matthias Mayr","raw_affiliation_strings":["Lund University,Faculty of Engineering (LTH),Department of Computer Science,Lund,Sweden,SE 221 00"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Faculty of Engineering (LTH),Department of Computer Science,Lund,Sweden,SE 221 00","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033161877","display_name":"Faseeh Ahmad","orcid":"https://orcid.org/0000-0001-6236-3796"},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Faseeh Ahmad","raw_affiliation_strings":["Lund University,Faculty of Engineering (LTH),Department of Computer Science,Lund,Sweden,SE 221 00"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Faculty of Engineering (LTH),Department of Computer Science,Lund,Sweden,SE 221 00","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108306188","display_name":"Alexander Duerr","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Alexander Duerr","raw_affiliation_strings":["Lund University,Faculty of Engineering (LTH),Department of Computer Science,Lund,Sweden,SE 221 00"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Faculty of Engineering (LTH),Department of Computer Science,Lund,Sweden,SE 221 00","institution_ids":["https://openalex.org/I187531555"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5109357557","display_name":"Volker Krueger","orcid":null},"institutions":[{"id":"https://openalex.org/I187531555","display_name":"Lund University","ror":"https://ror.org/012a77v79","country_code":"SE","type":"education","lineage":["https://openalex.org/I187531555"]}],"countries":["SE"],"is_corresponding":false,"raw_author_name":"Volker Krueger","raw_affiliation_strings":["Lund University,Faculty of Engineering (LTH),Department of Computer Science,Lund,Sweden,SE 221 00"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Lund University,Faculty of Engineering (LTH),Department of Computer Science,Lund,Sweden,SE 221 00","institution_ids":["https://openalex.org/I187531555"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I187531555"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9998999834060669,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9933000206947327,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9898999929428101,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6970215439796448},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.6753178834915161},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6578050851821899},{"id":"https://openalex.org/keywords/agile-software-development","display_name":"Agile software development","score":0.6092703342437744},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5307968258857727},{"id":"https://openalex.org/keywords/robot-control","display_name":"Robot control","score":0.4950536787509918},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.45732322335243225},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.43177908658981323},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.42523854970932007},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4213818311691284},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.39386531710624695},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3649090528488159},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.36214888095855713},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22292274236679077},{"id":"https://openalex.org/keywords/software-engineering","display_name":"Software engineering","score":0.14294859766960144},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06453666090965271}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6970215439796448},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.6753178834915161},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6578050851821899},{"id":"https://openalex.org/C14185376","wikidata":"https://www.wikidata.org/wiki/Q30232","display_name":"Agile software development","level":2,"score":0.6092703342437744},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5307968258857727},{"id":"https://openalex.org/C65401140","wikidata":"https://www.wikidata.org/wiki/Q7353385","display_name":"Robot control","level":4,"score":0.4950536787509918},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.45732322335243225},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.43177908658981323},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.42523854970932007},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4213818311691284},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.39386531710624695},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3649090528488159},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.36214888095855713},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22292274236679077},{"id":"https://openalex.org/C115903868","wikidata":"https://www.wikidata.org/wiki/Q80993","display_name":"Software engineering","level":1,"score":0.14294859766960144},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06453666090965271},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case56687.2023.10260413","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/case56687.2023.10260413","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:lup.lub.lu.se:afb3d358-fe52-40ca-8130-e8bfc27af8ba","is_oa":false,"landing_page_url":"https://lup.lub.lu.se/record/afb3d358-fe52-40ca-8130-e8bfc27af8ba","pdf_url":null,"source":{"id":"https://openalex.org/S4306400536","display_name":"Lund University Publications (Lund University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I187531555","host_organization_name":"Lund University","host_organization_lineage":["https://openalex.org/I187531555"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ISSN: 2161-8070","raw_type":"info:eu-repo/semantics/conferencePaper"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322327","display_name":"Knut och Alice Wallenbergs Stiftelse","ror":"https://ror.org/004hzzk67"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1994005705","https://openalex.org/W2017197542","https://openalex.org/W2084455988","https://openalex.org/W2104409884","https://openalex.org/W2115817551","https://openalex.org/W2122777916","https://openalex.org/W2129317082","https://openalex.org/W2140801763","https://openalex.org/W2151608912","https://openalex.org/W2170948561","https://openalex.org/W2171246729","https://openalex.org/W2202088841","https://openalex.org/W2242745611","https://openalex.org/W2398481491","https://openalex.org/W2416683943","https://openalex.org/W2550336733","https://openalex.org/W2588191617","https://openalex.org/W2772607898","https://openalex.org/W2773249613","https://openalex.org/W2884361029","https://openalex.org/W2905310161","https://openalex.org/W2907968607","https://openalex.org/W2909851421","https://openalex.org/W2910081242","https://openalex.org/W2946119222","https://openalex.org/W3005080401","https://openalex.org/W3024044737","https://openalex.org/W3145123113","https://openalex.org/W3161372510","https://openalex.org/W3203483019","https://openalex.org/W3205890605","https://openalex.org/W4312641024","https://openalex.org/W4320027835","https://openalex.org/W4389666416","https://openalex.org/W4391135276","https://openalex.org/W6680971464","https://openalex.org/W6690590051","https://openalex.org/W6716181154","https://openalex.org/W6733853593","https://openalex.org/W6742739345","https://openalex.org/W6846947709","https://openalex.org/W6982018190"],"related_works":["https://openalex.org/W2331850854","https://openalex.org/W3044940660","https://openalex.org/W2059363081","https://openalex.org/W4312096302","https://openalex.org/W2972304526","https://openalex.org/W2900509454","https://openalex.org/W2109003837","https://openalex.org/W2101598871","https://openalex.org/W2005471069","https://openalex.org/W2119963650"],"abstract_inverted_index":{"The":[0],"transition":[1],"to":[2,95],"agile":[3],"manufacturing,":[4],"Industry":[5],"4.0,":[6],"and":[7,26,51,102,128],"high-mix-low-volume":[8],"tasks":[9,80],"require":[10],"robot":[11,20,43,83,123],"programming":[12],"solutions":[13,21],"that":[14,45,87,115],"are":[15,22],"flexible.":[16],"However,":[17],"most":[18],"deployed":[19],"still":[23],"statically":[24],"programmed":[25],"use":[27],"stiff":[28],"position":[29,126],"control,":[30],"which":[31],"limit":[32],"their":[33],"usefulness.":[34],"In":[35],"this":[36,76,89],"paper,":[37],"we":[38],"show":[39],"how":[40,70],"a":[41,112,117,129],"single":[42],"skill":[44,55],"utilizes":[46],"knowledge":[47],"representation,":[48],"task":[49],"planning,":[50],"automatic":[52],"selection":[53],"of":[54],"implementations":[56],"based":[57],"on":[58,81],"the":[59,71,109],"input":[60],"parameters":[61],"can":[62],"be":[63],"executed":[64],"in":[65,88],"different":[66,82,97,104],"contexts.":[67],"We":[68,107],"demonstrate":[69],"skill-based":[72],"control":[73,105,127],"platform":[74,114],"enables":[75],"with":[77,111,125,134],"contact-rich":[78],"wiping":[79],"systems.":[84],"To":[85],"achieve":[86],"case":[90],"study,":[91],"our":[92],"approach":[93],"needs":[94],"address":[96],"kinematics,":[98],"gripper":[99],"types,":[100],"vendors,":[101],"fundamentally":[103],"interfaces.":[106],"conducted":[108],"experiments":[110],"mobile":[113],"has":[116],"Universal":[118],"Robots":[119],"UR5e":[120],"6":[121],"degree-of-freedom":[122,131],"arm":[124],"7":[130],"KUKA":[132],"iiwa":[133],"torque":[135],"control.":[136]},"counts_by_year":[{"year":2024,"cited_by_count":4}],"updated_date":"2026-07-17T09:13:05.818461","created_date":"2025-10-10T00:00:00"}