D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification System Architecture: The layout of Armar architecture is given in Figure 29. It is based on parallel behaviour-based components interacting with each other, comprising a three-level hierarchical perception sub-system, a three-level hierarchical task handling system, a long-term memory sub-system based on a global knowledge database (utilising a variety of representational schemas, including object ontologies and geometric models, Hidden Markov Models, and kinematic models), a dialogue manager which mediates between perception and task planning, an execution supervisor, and an ‘active models’ short-term memory sub-system to which all levels of perception and task management have access. These active models play a central role in the cognitive architecture: they are initialised by the global knowledge database and updated by the perceptual sub-system and can be autonomously actualised and reorganised. As such Armar is a representative of an architecture following the classical three-layers architectures which has a common database shared by all layers Figure 29: Armar architecture (Burghart et al.2005) Robotic platform: Robot prototype described in Burghart et al. (2005) is a humanoid robot with 23 degrees of freedom consisting of five subsystems: head, left arm, right arm, torso and a mobile platform. The upper body of the robot is modular and light-weight while retaining a similar size and proportion of an average person. The control system of the robot is divided into separate modules. Each arm as well as torso, head and mobile platform has its own software- and hardware controller module. The head has two DOFs arranged as pan and tilt and is equipped with a stereo camera system and a stereo microphone system. Each of the arms has 7 DOFs and is equipped with 6 DOFs force torque sensors on the wrist. The arms are equipped with anthropomorphic five-fingered hands driven by fluidic actuators. The mobile platform of the robot consists of a differential wheel pair and two passive supporting wheels. It is equipped with front and rear laser scanners and it hosts the power supply and the main part of the computer network. 136
D2.1 Requirements and Specification Figure 30: A humanoid robot Armar (Burghart et al.2005) Sensing and Perception: The perception sub-system consists of low-, mid-, and high-level perception modules. The low-level perception module provides fast interpretation of sensor data without accessing the system knowledge database. It provides typically reflex-like low-level robot control. Within this module data coming from sensors such as joint position sensors, the force torque sensors located in the robot’s wrists, tactile sensor arrays used as artificial sensitive skin, and acoustic data for sound and speech activity detection are processed. The low-level perception module communicates with both the mid-level perception module and the task execution module via the active models. The mid-level perception module provides a variety of recognition components and communicates with both the system knowledge database (long-term memory) as well as the active models (short term memory). The high-level perception module provides more sophisticated interpretation facilities such as situation recognition, gesture interpretation, movement interpretation, and intention prediction. Planning: The task handling sub-system comprises a three-level hierarchy with task planning, task coordination, and task execution levels. Robot tasks are planned on the top symbolic level using task knowledge. A symbolic plan consists of a set of actions, represented either by XML-files or Petri nets, and acquired either by learning (e.g. through demonstration) or by programming. The task planner interacts with the high-level perception module, the (long-term memory) system knowledge database, the task coordination level, and an execution supervisor. This execution supervisor is responsible for the final scheduling of the tasks and resource management in the robot using Petri nets. Control (Execution): A sequence of actions generated are passed down to the task coordination level which then coordinates (deadlockfree) tasks to be run a the lowest task execution (control) level. In general, during the execution of any given task, the task coordination level works independently of the task planning level. Communication: A dialogue manager, which coordinates communication with users and interpretation of communication events, provides a bridge between the perception sub-system and the task sub-system. Its operation is effectively cognitive in the sense that it provides the functionality to recognise the intentions and behaviours of users. Learning: A learning sub-system is also incorporated with the early generations of Armar robot learning tasks and action sequences off-line by programming by demonstration or tele-operation. On-line learning has been work in progress in new generations of Armar (Dietsch, 2011). For instance Armar-III actively investigates its 137
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CORBYS Cognitive Control Framework
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D2.1 Requirements and Specification
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D2.1 Requirements and Specification - CORBYS

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