Cram–a cognitive robot abstract machine

Autonomous household robots, robot assistants and robotic co-workers become more and more available. They are supposed to understand and execute commands like “Make some pancakes” or “Set the table”. In order to translate such underspecified and ambiguous instructions into executable action specifications and to execute them in realistic environments, a robot needs deep knowledge and powerful reasoning techniques.With CRAM, we propose a software toolbox for realizing cognition-enabled robot control programs. CRAM provides a rich set of components for reasoning and action execution which are the building blocks for complex robot control programs. With these components, CRAM raises the conceptual level at which service and personal robot applications can be programmed. This facilitates the creation of cognition-enabled robot control programs.