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Towards robust personal assistant robots: Experience gained in the SRS project

: Qiu, Renxi; Ji, Ze; Noyvirt, Alexandre; Soroka, Anthony; Setchi, Rossi; Pham, Duc Truong; Xu, Shuo; Shivarov, Naiden; Pigini, Lucia; Arbeiter, Georg; Weisshardt, Florian; Graf, Birgit; Mast, Marcus; Blasi, Lorenzo; Facal, David; Rooker, Martijn; Lopez, Rafa; Li, Dayou; Liu, Beisheng; Kronreif, Gernot; Smrz, Pavel


Almeida, Anibal T. de (General Chair); Nunes, Urbano (General Chair) ; Institute of Electrical and Electronics Engineers -IEEE-; Robotics Society of Japan; IEEE Industrial Electronics Society:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. Conference Proceedings. Vol.3 : Celebrating 25 Years of IROS; Vilamoura, Portugal, 7th-12th of October 2012
Piscataway, NJ: IEEE, 2012
ISBN: 978-1-4673-1737-5 (Print)
ISBN: 978-1-4673-1735-1
ISBN: 978-1-4673-1736-8
International Conference on Intelligent Robots and Systems (IROS) <2012, Vilamoura>
Fraunhofer IPA ()
Care-O-bot®; Robot Operating System ROS; Personal Robot; Assistenzroboter; Fetch and Carry; Task Planning; Shadow Robot SRS; Roboter

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 initial demonstration platform. In this paper, experience gained while building the SRS system is presented. A main contribution of the paper is the SRS autonomous control framework. The framework 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, several new components and user interfaces are integrated on top of COB's existing capabilities to enable robust fetch and carry in unstructured environments. The implementation strategy and results are discussed at the end of the paper.