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    The development of a semi-autonomous framework for personal assistant robots - SRS Project

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    Authors
    Qiu, Renxi
    Ji, Ze
    Chivarov, N.
    Arbeiter, Georg
    Weisshardt, Florian
    Rooker, M.
    Lopez, R.
    Kronreif, G.
    Spanel, M.
    Li, Dayou
    Affiliation
    Cardiff University
    Bulgarian Academy of Sciences
    Fraunhofer IPA
    PROFACTOR GmbH
    Robotnik Automation S.L.L.
    Integrated Microsystems Austria
    Brno University of Technology
    University of Bedfordshire
    Issue Date
    2013
    Subjects
    automatic task planner
    Care-O-Bot (COB) 3
    personal assistant robots
    Robotic Operating System (ROS)
    robotics
    
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    Abstract
    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): 30-47
    Publisher
    IGI Global
    Journal
    International Journal of Intelligent Mechatronics and Robotics
    URI
    http://hdl.handle.net/10547/336058
    DOI
    10.4018/ijimr.2013100102
    Additional Links
    http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/ijimr.2013100102
    Type
    Article
    Language
    en
    ISSN
    2156-1664
    2156-1656
    ae974a485f413a2113503eed53cd6c53
    10.4018/ijimr.2013100102
    Scopus Count
    Collections
    Centre for Research in Distributed Technologies (CREDIT)

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