D2.1 Requirements and Specification - CORBYS

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D2.1 Requirements and Specification The communication between the user and the robot is realised via the man-machine interface and drives the task execution. Corresponding orders are sent to the symbolic planner, which serves as a task planning component. It converts orders from the user interface into a list of possible actions, which leads to a global goal. Once the list is generated, the execution module chooses a suitable action from the list and sends it to the robot control module in order to execute it. Information is shared via a world-model in the database module. Robotic platform: The Care-O-bot 3 system is a highly integrated and compact service robot. Its main components are a mobile base, a torso, a manipulator, a tray and a sensor carrier. The system can be seen in the following figure: Figure 35: Care-O-bot It has altogether 28 DOF, which includes a 7 DOF light-weight arm, equipped with a 7 DOF gripper, and a 5 DOF sensor head with a laser scanner, stereo-vision cameras and a 3D-TOF-camera. The mobile platform is capable of omnidirectional movement and the torso is flexible such that simple gestures can be performed. For user-interaction, there are acoustic devices and a touch screen is integrated into the tray. Planning: The task planning is handled by the symbolic planner at the high-level, which generates a list of actions to reach the goals specified by the user, by receiving input from the man-machine-interface and the database. The planner for the Care-O-bot system is based on the Action Description Language (ADL). It uses the Fast- Forward-planner (FF-planner), working with the Planning Domain Description Language (PDDL). Thus it uses a world model and a list of the abilities of the robot, both being saved in the systems database, in order to create a list of possible actions that can be accomplished next. Real-time Control (Execution) In order to realise the possible actions from the list of the symbolic planner, the execution module selects a suitable action and executes it. For that purpose, the low-level control of the robot is designed using a realtime framework. Depending on the context, open- and closed-loop controllers are realised. Reasoning: 142
D2.1 Requirements and Specification The actions, chosen from the list of the symbolic planner, are executed by the execution module. This is realised as a BDI (Believe-Desire-Intention)-theoretic agent architecture. The agent is able to determine intentions dynamically at runtime, based on known facts, current goals and available plans. Here both topdown goal-based reasoning and bottom-up data-driven reasoning are possible. Sensing and perception Considering the environment perception, sensory data is gathered continuously. This data is further processed and interpreted in order to acquire information about the environment. The results are then given to the system and possibly displayed to the user through the man-machine-interface. 13.3 CORBYS enabling potential and constraints (current gaps/shortcomings) The following aspects of cognitive robot controlled systems have been identified as points of interest where the CORBYS project will contribute to research and development of cognitive controlled robotic systems: a) Cognitive control adaptation b) take-over/hand-over of goal-setting initiative between robot and external agent Cognitive control adaptation In reviewed cognitive architectures, the control of actuators is carried out by general control techniques that are usually used in robotics (position servo controllers and different form of force controllers) where setpoints for real-time (RT) controllers are provided by cognitive modules which initiate action of RT controllers. However, one important missing aspect is adaptation of real-time controllers by cognitive modules. This will be highly influenced by time latency of cognitive loops and communication paths between RT controllers and cognitive modules. In CORBYS both long term and short term adaptation of RT controllers will be investigated. 14 StateoftheArt in Smart integrated actuators (SCHUNK) 14.1 Introduction to Smart Integrated Actuators Smart Actuators are considered to be highly integrated mechatronical units incorporating a motor and the complete motion control electronics in one single unit. For reasons of minimised interfacing a smart actuator provides a bus communication interface and runs all necessary motion control tasks internally. Smart actuators were introduced at the beginning 1990s as microcontrollers reached the necessary computing performance for motor control. The progressing microcontroller technology integrating a microprocessor, capture compare and timer units enabling PWM control as well as analogue, digital and communication ports has started the ongoing process of miniaturisation of sensors and motor control electronics. At the same time power electronics developed rapidly by increasing drain current capacity in field effect transistors (especially the MOSFET technology) at lower internal resistance as well as by introducing new semiconductor technologies like IGBT (insulated gate bipolar transistor). Depending on the application and component sizing a smart actuator can also incorporate a speed reducing gear head thus enabling the device to provide higher torque output. Smart actuators can be distinguished by these criteria: motor technique and control system. 14.2 Basic Actuator Technologies State-of-the-art smart actuators have been presented with fluidic drives as well as with electromagnetic 143
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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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