Refine
Departments, institutes and facilities
Document Type
- Conference Object (72) (remove)
Year of publication
Has Fulltext
- no (72)
Keywords
- Cognitive robot control (2)
- Explainable robotics (2)
- Learning from experience (2)
- robotics (2)
- Active Learning (1)
- Autism Spectrum Disorder (1)
- Automatic Short Answer Grading (1)
- Benchmarking (1)
- Cognitive robotics (1)
- Comparative analysis (1)
Cosynthesis in CASTLE
(1995)
Ein gebräuchliche Methodik beim Entwurf eingebetteter Systeme, in Anwendung besonders bei kleinen- und mittleren Unternehmen, geht folgendermaßen vor: Man nehme das bereits existierende Mikrokontroller Entwicklungspaket und bereits vorhandene Funktionen aus einer alten Systemrealisierung, variiere bzw. passe sie an die neue Aufgabe an und teste dann durch Emulation, ob die Spezifikation erfüllt ist.
Dual Dynamics (DD) is a mathematical model of a behavior control system for mobile autonomous robots. Behaviors are specified through differential equations; forming a global dynamical system made of behavior subsystems which interact in a number of ways. DD models can be directly compiled into executable code. The article (i) explains the model; (ii) sketches the Dual Dynamics Designer (DDD) environment that we use for the design; simulation; implementation and documentation; and (iii) illustrates our approach with the example of kicking a moving ball into a goal.
GMD-Robots
(2001)
A way of combining a relatively new sensor-technology, that is optical analog VLSI devices, with a standard digital omni-directional vision system is investigated. The sensor used is a neuromorphic analog VLSI sensor that estimates the global visual image motion. The sensor provides two analog output voltages that represent the components of the global optical flow vector. The readout is guided by an omni-directional mirror that maps the location of the ball and directs the robot to align its position so that a sensor-actuator module that includes the analog VLSI optical flow sensor can be activated. The purpose of the sensor-actuator module is to operate with a higher update rate than the standard vision system and thus increase the reactivity of the robot for very specific situations. This paper will demonstrate an application example where the robot is a goalkeeper with the task of defending the goal during a penalty kick.
GMD-Robots
(2002)
Swedish wheeled mobile robots have remarkable mobility properties allowing them to rotate and translate at the same time. Being holonomic systems, their kinematics model results in the possibility of designing separate and independent position and heading trajectory tracking control laws. Nevertheless, if these control laws should be implemented in the presence of unaccounted actuator saturation, the resulting saturated linear and angular velocity commands could interfere with each other thus dramatically affecting the overall expected performance. Based on Lyapunov’s direct method, a position and heading trajectory tracking control law for Swedish wheeled robots is developed. It explicitly accounts for actuator saturation by using ideas from a prioritized task based control framework.
The goal of this work is to develop an integration framework for a robotic software system which enables robotic learning by experimentation within a distributed and heterogeneous setting. To meet this challenge, the authors specified, defined, developed, implemented and tested a component-based architecture called XPERSIF. The architecture comprises loosely-coupled, autonomous components that offer services through their well-defined interfaces and form a service-oriented architecture. The Ice middleware is used in the communication layer. Additionally, the successful integration of the XPERSim simulator into the system has enabled simultaneous quasi-realtime observation of the simulation by numerous, distributed users.
This paper presents an approach to estimate theego-motion of a robot while moving. The employed sensor is aTime-of-Flight (ToF) camera, the SR3000 from Mesa Imaging.ToF cameras provide depth and reflectance data of the scene athigh frame rates.The proposed method utilizes the coherence of depth andreflectance data of ToF cameras by detecting image features onreflectance data and estimating the motion on depth data. Themotion estimate of the camera is fused with inertial measure-ments to gain higher accuracy and robustness.The result of the algorithm is benchmarked against referenceposes determined by matching accurate 2D range scans. Theevaluation shows that fusing the pose estimate with the datafromthe IMU improves the accuracy and robustness of the motionestimate against distorted measurements from the sensor.
In the realm of service robots recovery from faults is indispensable to foster user acceptance. Here fault is to be understood not in the sense of robot internal, rather as interaction faults while situated in and interacting with an environment (aka ex-ternal faults). We reason along the most frequent failures in typical scenarios which we observed during real-world demonstrations and competitions using our Care-O-bot III 1 robot. They take place in an apartment-like environments which is known as closed world. We suggest four different -for now adhoc -fault categories caused by disturbances, imperfect per-ception, inadequate planning or chaining of action sequences. The fault are categorized and then mapped to a handful of partly known, partly extended fault handling techniques. Among them we applied qualitative reasoning, use of simu-lation as oracle, learning for planning (aka en-hancement of plan operators) or -in future -case-based reasoning. Having laid out this frame we mainly ask open questions related to the applicability of the pre-sented approach. Amongst them: how to find new categories, how to extend them, how to as-sure disjointness, how to identify old and label new faults on the fly.