Publication: New trends and challenges in the automatic generation of new tasks for humanoid robots
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2016
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Consejo Superior de Investigaciones Científicas (CSIC)
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Abstract
In this paper, the study and implementation of a task generation system that uses the information obtained from the user and already known cases is presented. One of the main objectives of the system is to introduce a new approach in robotics that takes into account the physical limitation of teaching and learning time, and thus the amount of knowledge that a robot can obtain of a given environment (tasks, objects, user preferences...), as a critical bottleneck of any robotic system. For this, the study of the Case Based Reasoning (CBR) problem is presented. Additionally, Base Trajec-tory Combination (BATC), a novel trajectory combination method based on a simplified CBR structure, using trajectories instead of high-level tasks, is proposed and explained. Finally, this system is tested with Move-it! as the simulation environment, using the humanoid robot TEO from Universidad Carlos III de Madrid as the robotic platform. The results of these experiments are also presented with the corresponding conclusions and future research lines.
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Proceeding of: RobCity16: Robots for citizens: Open Conference on Future Trends in Robotics, Madrid May 26-27 2016
Keywords
Humanoid robots, TEO humanoid, Task generation system
Bibliographic citation
Balaguer Bernaldo de Quirós, Carlos; González Víctores, Juan Carlos; Férnandez Fernández, Raúl (2016). New trends and challenges in the automatic generation of new tasks for humanoid robots. RoboCity16: Robots for citizens: Open Conference on Future Trends in Robotics, Madrid 26-27 Mayo 2016. Madrid: Consejo Superior de Investigaciones Científicas. Pp. 169-176