Knowledge Base Representation for Humanoid Robot Skills

Abstract The ultimate goal for humanoid robotics research is to develop humanoid robotic systems capable and flexible enough to handle the challenge of working alongside human in complex natural environments performing everyday tasks. To reach this goal it is key to develop appropriate structures in which to organize the acquire knowledge in a manner that allows the system to retrieve it in order to use it to fulfil its missions. In this work a knowledge base representation of the robot skills knowledge organized in terms of the relationships between objects, actions and event frames is proposed.