The modular behavioral environment for humanoids and other robots (MoBeE)

Mikhail Frank, Jürgen Leitner, Marijn Stollenga, Gregor Kaufmann, Simon Harding, Alexander Förster, Schmidhuber Jürgen Schmidhuber

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

16 Citations (Scopus)

Abstract

To produce even the simplest human-like behaviors, a humanoid robot must be able to see, act, and react, within a tightly integrated behavioral control system. Although there exists a rich body of literature in Computer Vision, Path Planning, and Feedback Control, wherein many critical subproblems are addressed individually, most demonstrable behaviors for humanoid robots do not effectively integrate elements from all three disciplines. Consequently, tasks that seem trivial to us humans, such as pick-and-place in an unstructured environment, remain far beyond the state-of-the-art in experimental robotics. We view this primarily as a software engineering problem, and have therefore developed MoBeE, a novel behavioral framework for humanoids and other complex robots, which integrates elements from vision, planning, and control, facilitating the synthesis of autonomous, adaptive behaviors. We communicate the efficacy of MoBeE through several demonstrative experiments. We first develop Adaptive Roadmap Planning by integrating a reactive feedback controller into a roadmap planner. Then, an industrial manipulator teaches a humanoid to localize objects as the two robots operate autonomously in a shared workspace. Finally, an integrated vision, planning, control system is applied to a real-world reaching task using the humanoid robot.

Original languageEnglish
Title of host publicationICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
Pages304-313
Number of pages10
Publication statusPublished - 2012
Externally publishedYes
EventInternational Conference on Informatics in Control, Automation and Robotics 2012 - Rome, Italy
Duration: 28 Jul 201231 Jul 2012
Conference number: 9th

Publication series

NameICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics
Volume2

Conference

ConferenceInternational Conference on Informatics in Control, Automation and Robotics 2012
Abbreviated titleICINCO 2012
Country/TerritoryItaly
CityRome
Period28/07/1231/07/12

Keywords

  • Adaptive roadmap planning
  • Architecture
  • Autonomous adaptive behavior
  • Cooperative robots
  • Framework
  • Humanoid
  • Machine learning
  • Modelling
  • Robotics
  • Shared workspace
  • Simulation
  • Unstructured environment

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