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Integration of a loop based and an event based framework for control of a bimanual dextrous service robot

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4 Author(s)
Ruhl, S.W. ; FZI Forschungszentrum Inf., Karlsruhe, Germany ; Zhixing Xue ; Zollner, J.M. ; Dillmann, R.

Different components are needed to control a service robot, which helps people in the household environment to do daily tasks. Controllers in closed loop are needed to control the actuators and sensors to provide actions. A sequencer schedules and coordinates these actions to finish a given task. And an AI planner is also needed to generate the sequence of the actions. Followed this well-known three-layer architecture, we have developed a robotic framework for service robots. The controller is implemented in the MCA2 (modular control architecture), developed by our institute. A component-based interface converts the events like start or finished signals to an event-based system, where the tasks are decomposed and organized in a task-tree. This task-tree can be automatically generated by an AI planner or learned from human demonstrations. We have evaluated the introduced control framework on a service robot with two arms and two hands. Experimental results show that our system is modular, flexible and fulfills the requirements for robotic control software development.

Published in:

Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on

Date of Conference:

19-23 Dec. 2009