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Authors: Malte Huerkamp 1 ; Kaviya Dhanabalachandran 1 ; Mihai Pomarlan 2 ; Simon Stelter 1 and Michael Beetz 1

Affiliations: 1 Institute for Artificial Intelligence, University of Bremen, Germany ; 2 Applied Linguistics Department, University of Bremen, Germany

Keyword(s): Symbolic Reasoning, Motion Control, Robotic Manipulation.

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.

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Paper citation in several formats:
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; ISSN 2184-433X, SciTePress, pages 886-897. DOI: 10.5220/0013394400003890

@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},
issn={2184-433X},
}

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
IS - 2184-433X
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

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