ROBOT SKILL ABSTRACTION FOR AD ARCHITECTURE

  1. Rivas, R. 12
  2. Corrales, A. 1
  3. Barber, R. 1
  4. Salichs, M.A. 1
  1. 1 Universidad Carlos III de Madrid
    info

    Universidad Carlos III de Madrid

    Madrid, España

    ROR https://ror.org/03ths8210

  2. 2 Universidad de Los Andes (Venezuela)
    info

    Universidad de Los Andes (Venezuela)

    Merida, Venezuela

    ROR https://ror.org/02h1b1x27

Revista:
IFAC Proceedings Volumes

ISSN: 1474-6670

Año de publicación: 2007

Volumen: 40

Número: 15

Páginas: 415-420

Tipo: Artículo

DOI: 10.3182/20070903-3-FR-2921.00071 GOOGLE SCHOLAR lock_openAcceso abierto editor

Otras publicaciones en: IFAC Proceedings Volumes

Resumen

In this paper a set of tools is presented. This set of tools allows obtaining an approach to the development of an architecture for personal robots control which is based on robot skills, specifically for the AD Architecture developed in the Robotics Lab research group at the University Carlos III in Madrid. The paper describes three different software components: an event emission and capture system, an information distribution system and a skill template class. A brief description of the AD architecture is done in order to understand how the components must work. Then the three tools that are used are explained in detail. A description of our robot, Maggie, in which the tools have been combined, is done. Finally, the development stage and the experimental results are shown.

Referencias bibliográficas

  • Albus, 1989 Albus James S., John C. Fiala, Albert J. Wavering, Ronald Lumi Nasrem - the nasa/nbs standard reference model for telerobot control system architecture 20th International Symposium on Industrial Robots, Tokio, Japan, Tokio, Japan (1989), pp. 4-6
  • Arkin, 1998 Arkin Ronald C. Intelligent robots and autonomous agents, MIT Press (1998)
  • Brooks, 1986 Brooks Rodney A robust layered control system for a mobile robot IEEE Transaction on Robotics and Automation, 2 (1) (1986), pp. 14-23
  • Dario, 2001 Dario P., E. Guglielmelli, C. Laschi Humanoids and personal robots: design and experiments Robotic Systems, 18 (2001), pp. 673-690
  • Furuta, 2001 Furuta T., T. Tawara, Y. Okumura, M. Shimizu Design and construction of a series of compact humanoid robots and development of biped walk control strategies Robotics and Autonomous Systems, 37 (2001), pp. 81-100
  • Gamma, 1997 Gamma Erich, Richard Helm, Raph Johnson, John Vlissides Design Patterns, Addison-Wesley Professional (1997)
  • Jacobs, 1972 Jacobs Walter Control systems in robots ACM'72: Proceedings of the ACM annual conference, ACM Press, New York, NY, USA (1972), pp. 110-117
  • Mataric, 1992 Mataric Maja J. Behavior-based systems: Main properties and implications IEEE International Conference on Robotics and Automation, Nice, France (1992), pp. 45-54
  • Mataric, 1992 Mataric Maja J. Integration of representation into goal-driven behavior-based robots IEEE Transactions on Robotics and Automation, 8 (3) (1992), pp. 304-312
  • Rivas, 2006 Rivas R, et al. Schab: Sistema minimo de supervision y control de habilidades en el robot maggie Jornadas de Automatica, Almeria, Spain, Almeria, Spain (2006)
  • Salichs, 2001 RoboticsLabs UC3M (2006). Maggie web page. http://roboticslab.uc3m.es/maggie.
  • Salichs M.A., R. Barber A new human based architecture for intelligent autonomous robots The Fourth IFAC Symposium on Intelligent Autonomous Vehicles, Sapporo, Japan, Sapporo, Japan (2001), pp. 85-90
  • Salichs, 2006 Salichs M.A. Maggie: A robotic platform for human-robot social interaction IEEE International Conference on Robotics, Automation and Mechatronics (RAM 2006), Bangkok. Thailand, Bangkok. Thailand (2006)
  • Salichs, 2002 Salichs M.A., R. Barber, M.J. Boada Visual approach skill for a mobile robot using learning and fusion of simple skills Robotics and Autonomous Systems, 38 (3-4) (2002), pp. 157-170