Abstract
To perform service tasks effectively, service robots must be able to handle not only low-level sensory-motor data, but also high-level semantic information. These data and information are bi-directionally linked, where low-level data is passed up and high-level information is passed down in semantic relationships and hierarchy. In this paper, these data and information are described as robot knowledge and associated with each other to integrate them into unified robot knowledge for service robots. Experimental results that demonstrate the advantages of using the proposed knowledge framework are also presented.
