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The Development of a Semi-Autonomous Framework for Personal Assistant Robots - SRS Project
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Author(s): R. Qiu (Cardiff University, Cardiff, Wales, UK & University of Bedfordshire, Luton, UK), Z. Ji (Cardiff University, Cardiff, Wales, UK), N. Chivarov (Bulgarian Academy of Sciences, Sofia, Bulgaria), G. Arbeiter (Fraunhofer IPA, Stuttgart, Germany), F. Weisshardt (Fraunhofer IPA, Stuttgart, Germany), M. Rooker (PROFACTOR GmbH, Steyr, Austria), R. Lopez (Robotnik Automation S.L.L., Valencia, Spain), G. Kronreif (Integrated Microsystems Austria GmbH, Wiener Neustadt, Austria), M. Spanel (Brno University of Technology, Brno, Czech Republic)and D. Li (University of Bedfordshire, Luton, UK)
Copyright: 2013
Volume: 3
Issue: 4
Pages: 18
Source title:
International Journal of Intelligent Mechatronics and Robotics (IJIMR)
Editor(s)-in-Chief: Zuobin Wang (Changchun University of Science and Technology, China)
DOI: 10.4018/ijimr.2013100102
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Abstract
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 demonstration platform. A semi-autonomous framework has been developed in the project. It consists of an autonomous control structure and user interfaces that support the semi-autonomous operation. The control structure 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, SRS user interfaces are integrated on top of COB's existing capabilities to enable robust fetch and carry in unstructured environments.
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