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 language | English |
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Title of host publication | ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics |
Pages | 304-313 |
Number of pages | 10 |
Publication status | Published - 2012 |
Externally published | Yes |
Event | International Conference on Informatics in Control, Automation and Robotics 2012 - Rome, Italy Duration: 28 Jul 2012 → 31 Jul 2012 Conference number: 9th |
Publication series
Name | ICINCO 2012 - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics |
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Volume | 2 |
Conference
Conference | International Conference on Informatics in Control, Automation and Robotics 2012 |
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Abbreviated title | ICINCO 2012 |
Country/Territory | Italy |
City | Rome |
Period | 28/07/12 → 31/07/12 |
Keywords
- Adaptive roadmap planning
- Architecture
- Autonomous adaptive behavior
- Cooperative robots
- Framework
- Humanoid
- Machine learning
- Modelling
- Robotics
- Shared workspace
- Simulation
- Unstructured environment