Obelisk: Novel Knowledgebase of Object Features and Exchange Strategies

This paper presents the design and development of a system intended for storing, querying and managing all required data related to a fluent human-robot object handover process. Our system acts as a bridge between visual perception and control systems in a robotic setup intended to collaborate with human partners, while the perception module provides information about the exchange environment. In order to achieve these goals, a semantic-ontological approach has been selected favouring system's interoperability and extensibility, complemented with a set of utilities developed ad-hoc for easing the knowledge inference, query and management. As a result, the proposed knowledgebase provides a completeness level not previously reached in related state of the art approaches.