A Real-Time-capable Hard-and Software Architecture for Joint Image and Knowledge Processing in Cognitive Automobiles

Goebl, Matthias; Färber, Georg

doi:10.1109/ivs.2007.4290204

Cited by 49 publications

(40 citation statements)

References 12 publications

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“…3) Software Architecture: Our real-time control framework [10][11], which is based on the KogmoRTDB real-time database [12] is used during demonstration and autonomous task execution. In addition to synchronized data management it allows to record and replay data streams.…”

Section: ) Teleoperator and Autonomous Robotmentioning

confidence: 99%

Autonomous manipulation of deformable objects based on teleoperated demonstrations

Rambow

Schauss

Buss

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-While humans can manipulate deformable objects smoothly and naturally, this is still a challenge for autonomous robots due to the complex object dynamics. The presence of rigid environment constraints and altering contact phases between the deformable object, the manipulator, and the environment makes this problem even more challenging. This paper presents a framework for deformable object manipulation that makes use of a single human demonstration of the task. The recorded trajectories are automatically segmented into a sequence of haptic control primitives involving contact with the rigid environment and vision-guided grasp primitives. The recorded motion/force trajectories serve as reference for a compliant control scheme in contact situations. In order to cope with positioning uncertainties a variable admittance control is proposed. The proposed approach is validated in an experimental mounting task for a deformable linear object with multiple re-grasping. The task is demonstrated with a multimodal teleoperation system and transfered to a robotic platform with a pair of seven degrees of freedom manipulators.

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Section: ) Teleoperator and Autonomous Robotmentioning

confidence: 99%

Autonomous manipulation of deformable objects based on teleoperated demonstrations

Rambow

Schauss

Buss

et al. 2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The control algorithm runs at a frequency of 1 kHz. The third PC is identical to the first and ensures real-time control of the mobile platform and a synchronized data management utilizing the KogmoRTDB realtime database [18] available at [19] and the PREEMPT RT Linux real-time kernel patch [20]. The MARY Text-to-Speech System is utilized for English-language speech synthesis.…”

Section: B Implementationmentioning

confidence: 99%

An experience-driven robotic assistant acquiring human knowledge to improve haptic cooperation

Medina

Lawitzky

Mortl

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-Physical cooperation with humans greatly enhances the capabilities of robotic systems when leaving standardized industrial settings. Our novel cognition-enabled control framework presented in this paper enables a robotic assistant to enrich its own experience by acquisition of human task knowledge during joint manipulation. Our robot incrementally learns semantic task structures during joint task execution using hierarchically clustered Hidden Markov Models. A semantic labeling of recognized task segments is acquired from the human partner through speech. After a small number of repetitions, the robot uses an anticipated task progress to generate a feed-forward set point for an admittance feedback control scheme. This paper describes the framework and its implementation on a mobile bi-manual platform. The evolution of the robot's task knowledge is presented and discussed. Finally, the cooperation quality is measured in terms of the robot's task contribution.

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“…All data exchange between processes is done via a central communication framework, the real-time database for cognitive automobiles KogMo-RTDB (Goebl & Färber, 2007b). All data within the RTDB are represented as time-stamped objects.…”

Section: Software Architecturementioning

confidence: 99%

Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge

Kammel

Ziegler

Pitzer

et al. 2008

Journal of Field Robotics

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214

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This paper reports on AnnieWAY, an autonomous vehicle that is capable of driving through urban scenarios and that successfully entered the finals of the 2007 DARPA Urban Challenge competition. After describing the main challenges imposed and the major hardware components, we outline the underlying software structure and focus on selected algorithms. Environmental perception mainly relies on a recent laser scanner that delivers both range and reflectivity measurements. Whereas range measurements are used to provide three-dimensional scene geometry, measuring reflectivity allows for robust lane marker detection. Mission and maneuver planning is conducted using a hierarchical state machine that generates behavior in accordance with California traffic laws. We conclude with a report of the results achieved during the competition. C 2008 Wiley Periodicals, Inc.

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A Real-Time-capable Hard-and Software Architecture for Joint Image and Knowledge Processing in Cognitive Automobiles

Cited by 49 publications

References 12 publications

Autonomous manipulation of deformable objects based on teleoperated demonstrations

Autonomous manipulation of deformable objects based on teleoperated demonstrations

An experience-driven robotic assistant acquiring human knowledge to improve haptic cooperation

Team AnnieWAY's autonomous system for the 2007 DARPA Urban Challenge

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