Carsten Bruckhoff

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We present an architecture to generate behavior for an anthropomorphic robot. The goal is to equip the robot with the capacity to interact with a human. Motivated by the research on biological systems, our basic assumption is that the behavior to perform determines the external and internal structure of the behaving system. We describe the anthropomorphic(More)
We describe the general concept, system architecture, hardware and the rst behavioral abilities of Arnold, a mobile autonomous service robot with a robot arm with seven degrees of freedom and a dual stereo camera head. Arnold is anthropomorphic for better adaptation to typical human environments and to allow for human-like behavioral strategies in solving(More)
In this paper we employ an Evolutionary Algorithm (EA) to improve the parameters of a visual obstacle detection method called Inverse Perspective Mapping. We show that the EA leads to a better parameter setting than the one found by an expert. The obstacle detection method is successfully implemented on our autonomous mobile robot ARNOLD to navigate in an(More)
We describe the general concept, system architecture, hardware, and the behavioral abilities of Cora (Cooperative Robot Assistant, see Fig. 1), an autonomous non mobile robot assistant. Outgoing from our basic assumption that the behavior to perform determines the internal and external structure of the behaving system, we have designed Cora anthropomorphic(More)
In this article we introduce a neural eld approach for local path planning of an autonomous mobile robot. The robot's heading direction is determined by the localized peak and its velocity by the maximum activation in the eld. We emphasize the neural eld's ability to keep the path planning stable even in the case of noisy sensor data or varying(More)
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