The development of a semi-autonomous framework for personal assistant robots - SRS Project
Authors
Qiu, RenxiJi, Ze
Chivarov, N.
Arbeiter, Georg
Weisshardt, Florian
Rooker, M.
Lopez, R.
Kronreif, G.
Spanel, M.
Li, Dayou
Affiliation
Cardiff UniversityBulgarian Academy of Sciences
Fraunhofer IPA
PROFACTOR GmbH
Robotnik Automation S.L.L.
Integrated Microsystems Austria
Brno University of Technology
University of Bedfordshire
Issue Date
2013Subjects
automatic task plannerCare-O-Bot (COB) 3
personal assistant robots
Robotic Operating System (ROS)
robotics
Metadata
Show full item recordAbstract
SRS is a European research project for building robust personal assistant robots using ROS (Robotic Operating System) and Care-O-bot (COB) 3 as the demonstration platform. A semi-autonomous framework has been developed in the project. It consists of an autonomous control structure and user interfaces that support the semi-autonomous operation. The control structure is divided into two parts. First, it has an automatic task planner, which initialises actions on the symbolic level. The planner produces proactive robotic behaviours based on updated semantic knowledge. Second, it has an action executive for coordination actions at the level of sensing and actuation. The executive produces reactive behaviours in well-defined domains. The two parts are integrated by fuzzy logic based symbolic grounding. As a whole, they represent the framework for autonomous control. Based on the framework, SRS user interfaces are integrated on top of COB’s existing capabilities to enable robust fetch and carry in unstructured environments.Citation
Qiu R., Ji Z., Chivarov N., Arbeiter N., Weisshardt F., Rooker M., Lopez R., Kronreif G., Spanel M. and Li D. (2013) 'The Development of a Semi-Autonomous Framework for Personal Assistant Robots - SRS Project', International Journal of Intelligent Mechatronics and Robotics (IJIMR) 3 (4): 30-47Publisher
IGI GlobalAdditional Links
http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2013100102Type
ArticleLanguage
enISSN
2156-16642156-1656
ae974a485f413a2113503eed53cd6c53
10.4018/ijimr.2013100102