A key aspect of a robot's knowledge base is self-awareness about what it is capable of doing. It allows to define which tasks it can be assigned to and which it cannot. We will refer to this knowledge as the Capability concept. As capabilities stems from the components the robot owns, they can be linked together. In this work, we hypothesize that this concept can be inferred from the components rather than merely linked to them. Therefore, we introduce an ontological means of inferring the agent's capabilities based on the components it owns as well as low-level capabilities. This inference allows the agent to acknowledge what it is able to do in a responsive way and it is generalizable to external entities the agent can carry for example. To initiate an action, the robot needs to link its capabilities with external entities. To do so, it needs to infer affordance relations from its capabilities as well as the external entity's dispositions. This work is part of a broader effort to integrate social affordances into a Human-Robot collaboration context and is an extension of an already existing ontology.

翻译：机器人知识库的一个关键方面是其对自身能力的自我意识。这有助于确定哪些任务可以分配给它，哪些不能。我们将这种知识称为能力概念。由于能力源自机器人拥有的组件，因此这些能力可以相互关联。在这项工作中，我们假设这一概念可以从组件中推断出来，而不仅仅是与组件关联。因此，我们引入了一种基于本体论的方法，根据机器人拥有的组件以及低级能力来推断其能力。这种推断使机器人能够以响应式的方式认识到自己能够做什么，并且可推广到机器人能够携带的外部实体等。为启动动作，机器人需要将其能力与外部实体联系起来。为此，它需要从其能力以及外部实体的倾向中推断出可供性关系。本研究是更广泛地将社会可供性融入人机协作背景的一部分，并且是对现有本体的扩展。