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A Flexible Mobile Manipulator Architecture: A Case Study on Plasterboard Wall Preparation Cover

A Flexible Mobile Manipulator Architecture: A Case Study on Plasterboard Wall Preparation

Journal of Automation, Mobile Robotics and Intelligent Systems
Volume 20 (2026): Issue 1 (March 2026)
By: Łukasz Granat,  Michał Bryła,  Kuba Kamiński,  Filip Jędrzejczyk,  Sławomir Puchalski,  Ingmar Kessler,  Alexander Perzylo and  Ángel Soriano  
Open Access
|Mar 2026

Figures & Tables

Figure 1.

Overview of the system architecture with its three abstraction layers and their primary modules PEMKRE, HICEM, and LOCEM

Figure 2.

Visualization of an ontology-encoded abstract process with tasks, control nodes, and SPARQL-based semantic conditions for a plasterboard taping process. Parameters and semantic effects of tasks are not shown

Figure 3.

Internal architecture of the HICEM and the data flow between its components

Figure 4.

Behavior tree of the TAPE_LINE high-level action

Figure 5.

Invocation and monitoring of atomic actions by the LOCEM for one the higher-level actions sent by the HICEM

Figure 6.

RB-KAIROS+ robot and its customized equipment for a plasterboard wall preparation use case during the VOJEXT project

Figure 7.

Simplified excerpts from the workflow and dataflow within and between the layers for the taping process. The spraying and sanding processes are performed analogously

Figure 8.

Chronological sequence of actions related to demonstration runs of the robot performing the plasterboard wall preparation processes
DOI: https://doi.org/10.14313/jamris-2026-002 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649
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Language: English
Page range: 14 - 23
Submitted on: Nov 6, 2024
|
Accepted on: Feb 24, 2025
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Published on: Mar 31, 2026
Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year
Keywords:
Knowledge-based system,
Interface and translation layer,
Unified robot control,
Semantic process descriptions,
Reusable models,
Use case adaption,
Hardware and software abstraction,
Human working environments,
Building construction domain,
Mobile manipulation
Related subjects:
Computer sciences,
Artificial intelligence,
Engineering,
Electrical engineering,
Control engineering, metrology and testing,
Mechanical engineering,
Fundamentals of mechanical engineering

© 2026 Łukasz Granat, Michał Bryła, Kuba Kamiński, Filip Jędrzejczyk, Sławomir Puchalski, Ingmar Kessler, Alexander Perzylo, Ángel Soriano, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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