• Corpus ID: 218870156

An intent-based approach for creating assistive robots' control systems

@article{Winiarski2020AnIA,
  title={An intent-based approach for creating assistive robots' control systems},
  author={Tomasz Winiarski and Wojciech Dudek and Maciej Stefa'nczyk and Lukasz Zieli'nski and Daniel Gieldowski and Dawid Seredy'nski},
  journal={ArXiv},
  year={2020},
  volume={abs/2005.12106}
}
The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that affect robot control system. In the article an approach is presented for creating control systems for assistive robots, which reacts to users' intents delivered by voice commands, buttons, or an operator console. The whole approach was applied to the real… 

Figures and Tables from this paper

Scheduling of a Robot’s Tasks With the TaskER Framework
TLDR
This article investigates the problem of switching between various independent tasks safely and state requirements for a control system resolving it, and designs a model of systems satisfying the requirements and presents a TaskER framework implementing the model.
Grasped Object Weight Compensation in Reference to Impedance Controlled Robots
TLDR
The proposed method reduces trajectory tracking errors coming from the model imprecision without compromising the main advantages of impedance control.
HuBeRo - a Framework to Simulate Human Behaviour in Robot Research
TLDR
The HuBeRo framework is presented, which can be used to simulate human motion behaviour and allows independent control of each individual's activity, which distinguishes the presented approach from state-of-the-art, open-source solutions from the robotics domain.

References

SHOWING 1-10 OF 23 REFERENCES
Design for a Robotic Companion
TLDR
The design and control issues of such a robotic companion to the robot FLASH designed at the Wroclaw University of Technology within the European project LIREC, and currently developed by the authors are described.
Control system design procedure of a mobile robot with various modes of locomotion
TLDR
The procedure is based on an embodied agent theory and focuses on the agent behaviours and transitions between them and is proved through control system development and experimental verification of the custom-built Lynx mobile robot with vertical and horizontal modes of locomotion.
Variable structure robot control systems: The RAPP approach
Task harmonisation for a single-task robot controller
TLDR
This work introduces a method for harmonising service robot tasks being managed by finite state machines and considers a case when the robot can not switch the current task to another at any time.
Distributed NAO robot navigation system in the hazard detection application
TLDR
The navigation system of the humanoid NAO robot is presented that is distributed through the robot and the cloud and reduces the cost of the particular robot and makes it affordable for customers.
Nao Robot Navigation System Structure Development in an Agent-Based Architecture of the RAPP Platform
TLDR
A proper allocation of navigation components, in the four-agent structure of the RAPP platform, is the main goal of this work and results for the Nao robot are presented to show the validity of the proposed approach.
A universal architectural pattern and specification method for robot control system design
TLDR
A universal architectural pattern and an associated specification method that can be applied in the design of robot control systems and how classical, known from the literature, robotic architectures can be expressed as systems composed of one or more embodied agents is presented.
TIAGo: the modular robot that adapts to different research needs
TLDR
TIAGo, the mobile manipulator created by PAL Robotics, is described, which was conceived since its very begining as a modular robot, and incorporates new modular parts that can be used to build up other robots.
ROS: an open-source Robot Operating System
TLDR
This paper discusses how ROS relates to existing robot software frameworks, and briefly overview some of the available application software which uses ROS.
EARL—Embodied Agent-Based Robot Control Systems Modelling Language
TLDR
EARL follows a Model-Driven Software Development approach (MDSD), which facilitates robot control system development and is based on a mathematical method of robot controller specification, employing the concept of an Embodied Agent, and a graphical modelling language: System Modelling Language (SysML).
...
...