Toward robot-agnostic home appliance operation: a task execution framework using motion primitives, ontology, and GUI

Akishige Yuguchi, Takumi Nakamura, Mayuki Toyoda, Masayuki Yamada, Pattaraporn Tulathum, Maël Aubert, Gustavo Alfonso Garcia Ricardez, Jun Takamatsu, Tsukasa Ogasawara