RoboComp: A Tool-Based Robotics Framework

Manso, Luis J.; Bachiller, Pilar; Bustos, Pablo; Núñez, Pedro; Cintas, Ramón; Calderita, Luis V.

doi:10.1007/978-3-642-17319-6_25

Cited by 43 publications

(33 citation statements)

References 6 publications

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“…AGM may be of greater interest if the distributed nature of the concept behind AGM is taken to an implementation level using Component-Oriented Programming (COP) [36,37]. Implementing each of the active elements of AGM depicted in Figure 2 as actual independent software components provides several desirable features:…”

Section: Software-related Issuesmentioning

confidence: 99%

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A Perception-aware Architecture for Autonomous Robots

Manso

Bustos

Bachiller

et al. 2015

Int. j. adv. robot. syst.

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Service robots are required to operate in indoor environments to help humans in their daily lives. To achieve the tasks that they might be assigned, the robots must be able to autonomously model and interact with the elements in it. Even in homes, which are usually more predictable than outdoor scenarios, robot perception is an extremely challenging task. Clutter, distance and partial views complicate modelling the environment, making it essential for robots to approach the objects to perceive in order to gain favourable points of view. This article proposes a novel grammar-based distributed architecture, designed with reusability and scalability in mind, which enables robots not only to find and execute the perception-aware plans they need to achieve their goals, but also to verify that the world representation they build is valid according to a set of grammatical rules for the world model. Additionally, it describes a real-world example of use, providing qualitative results, in which a robot successfully models the room in which it is located and finds a coffee mug.

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Section: Software-related Issuesmentioning

confidence: 99%

“…The whole system was implemented using COP (see section 6) and the RoboComp framework [37]. The executive -which is domain-independent-and each of the agents were implemented as separate components.…”

Section: Implementation and Software Componentsmentioning

confidence: 99%

A Perception-aware Architecture for Autonomous Robots

Manso

Bustos

Bachiller

et al. 2015

Int. j. adv. robot. syst.

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“…The software to control our system is built on top of the robotics framework RoboComp [35]. Making use of the components and tools it provides and its communication middleware we developed an easy to understand and efficient architecture (see figure 7).…”

Section: E Robocomp Componentsmentioning

confidence: 99%

Engaging human-to-robot attention using conversational gestures and lip-synchronization

Burgos¹,

Manso²,

Calderita³

et al. 2012

jopha

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Abstract-Human-Robot Interaction (HRI) is one of the most important subfields of social robotics. In several applications, text-to-speech (TTS) techniques are used by robots to provide feedback to humans. In this respect, a natural synchronization between the synthetic voice and the mouth of the robot could contribute to improve the interaction experience. This paper presents an algorithm for synchronizing Text-To-Speech systems with robotic mouths. The proposed approach estimates the appropriate aperture of the mouth based on the entropy of the synthetic audio stream provided by the TTS system. The paper also describes the cost-efficient robotic head which has been used in the experiments and introduces the use of conversational gestures for engaging Human-Robot Interaction. The system, which has been implemented in C++ and can perform in realtime, is freely available as part of the RoboComp open-source robotics framework. Finally, the paper presents the results of the opinion poll that has been conducted in order to evaluate the interaction experience.

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“…Furthermore, teams of many developers and the need for code reuse, settle even more demanding requirements on today's technology. A promising approach is to use component-oriented specialized middlewares [2], [19], [11], [3] that provide a means to divide, reuse and organize large amounts of sophisticated and changing code, typical in robotic research environments. In this work we use RoboComp [1], [11], [20], an open-software robotics framework entirely developed in our laboratory.…”

mentioning

confidence: 99%

“…A promising approach is to use component-oriented specialized middlewares [2], [19], [11], [3] that provide a means to divide, reuse and organize large amounts of sophisticated and changing code, typical in robotic research environments. In this work we use RoboComp [1], [11], [20], an open-software robotics framework entirely developed in our laboratory. It provides, among other features, a wide variety of components R. Cintas, L. Pinero, L. J. Manso, P. Bachiller and P. Bustos are with the University of Extremadura.…”

mentioning

confidence: 99%

Robust behavior and perception using hierarchical state machines: a pallet manipulation experiment

Peña¹,

Manso²,

Pinero³

et al. 2011

jopha

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Abstract-Interacting with simple objects in semi-controlled environments is a rich source of challenging situations for mobile robots, particularly when performing sequential tasks. In this paper we present the computational architecture and results obtained from a pallet manipulation experiment with a real robot. To achieve a good success rate in locating and picking the pallets a set of behaviors is assembled in a hierarchical state machine. The behaviors are arranged in such a way that the global uncertainty of the task is progressively reduced when approaching the goal. To do so, actions are generated in each stage that increase the confidence of the robot of being in that particular relation to the world. In order to set up this experiment, it is required a non-trivial set of working senso-motor behaviors. We build on this set to design and test a pallet moving task in which the robot has to locate, approach, obtain the pose, pick up and, finally move the pallet to its target position. The only sensory sources of information available to the robot are a binocular vision system and its internal odometry. To carry out this task we have equipped a RobEx robot with a 1 DOF forklift and a 4 DOF binocular head. We present the conceptual and computational models and the results of the experiments in a real setup.

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RoboComp: A Tool-Based Robotics Framework

Cited by 43 publications

References 6 publications

A Perception-aware Architecture for Autonomous Robots

A Perception-aware Architecture for Autonomous Robots

Engaging human-to-robot attention using conversational gestures and lip-synchronization

Robust behavior and perception using hierarchical state machines: a pallet manipulation experiment

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