RT Conference Proceedings
T1 New trends and challenges in the automatic generation of new tasks for humanoid robots
A1 Fernández Fernández, Raúl
A1 González Víctores, Juan Carlos
A1 Balaguer Bernaldo de Quirós, Carlos
AB 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.
PB Consejo Superior de Investigaciones Científicas (CSIC)
SN 978-84-608-8452-1
YR 2016
FD 2016
LK https://hdl.handle.net/10016/34881
UL https://hdl.handle.net/10016/34881
LA eng
NO Proceeding of: RobCity16: Robots for citizens: Open Conference on Future Trends in Robotics, Madrid May 26-27 2016
NO This research has received funding from the RoboCity2030-III-CM project (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos. Fase III; S2013/MIT-2748), funded by Programas de Actividades I+D en la Comunidad de Madrid and cofunded by Structural Funds of the EU.
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RD 30 jun. 2024