A Modular Framework for Knowledge-Based Servoing: Plugging Symbolic Theories into Robotic Controllers

Malte Huerkamp, Kaviya Dhanabalachandran, Mihai Pomarlan, Simon Stelter, Michael Beetz

2025

Abstract

This paper introduces a novel control framework that bridges symbolic reasoning and task-space motion control, enabling the transparent execution of household manipulation tasks through a tightly integrated reasoning and control loop. At its core, this framework allows any symbolic theory to be ”plugged in” with a reasoning module to create interpretable robotic controllers. This modularity makes the framework flexible and applicable to a wide range of tasks, providing traceable feedback and human-level interpretability. We demonstrate the framework using a qualitative theory for pouring with a defeasible reasoner, showcasing how the system can be adapted to variations in task requirements, such as transferring liquids, draining mixtures, or scraping sticky materials.

Paper Citation

in Harvard Style

Huerkamp M., Dhanabalachandran K., Pomarlan M., Stelter S. and Beetz M. (2025). A Modular Framework for Knowledge-Based Servoing: Plugging Symbolic Theories into Robotic Controllers. In Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: IAI; ISBN 978-989-758-737-5, SciTePress, pages 886-897. DOI: 10.5220/0013394400003890

in Bibtex Style

@conference{iai25,
author={Malte Huerkamp and Kaviya Dhanabalachandran and Mihai Pomarlan and Simon Stelter and Michael Beetz},
title={A Modular Framework for Knowledge-Based Servoing: Plugging Symbolic Theories into Robotic Controllers},
booktitle={Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: IAI},
year={2025},
pages={886-897},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013394400003890},
isbn={978-989-758-737-5},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Agents and Artificial Intelligence - Volume 1: IAI
TI - A Modular Framework for Knowledge-Based Servoing: Plugging Symbolic Theories into Robotic Controllers
SN - 978-989-758-737-5
AU - Huerkamp M.
AU - Dhanabalachandran K.
AU - Pomarlan M.
AU - Stelter S.
AU - Beetz M.
PY - 2025
SP - 886
EP - 897
DO - 10.5220/0013394400003890
PB - SciTePress