The Modular Behavioral Environment for Humanoids and other Robots (MoBeE)

Mikhail Frank, Jürgen Leitner, Marijn Stollenga, Simon Harding, Alexander Förster, Jürgen Schmidhuber

2012

Abstract

To produce even the simplest human-like behaviors, a humanoid robot must be able to see, act, and react, within a tightly integrated behavioral control system. Although there exists a rich body of literature in Computer Vision, Path Planning, and Feedback Control, wherein many critical subproblems are addressed individually, most demonstrable behaviors for humanoid robots do not effectively integrate elements from all three disciplines. Consequently, tasks that seem trivial to us humans, such as pick-and-place in an unstructured environment, remain far beyond the state-of-the-art in experimental robotics. We view this primarily as a software engineering problem, and have therefore developed MoBeE, a novel behavioral framework for humanoids and other complex robots, which integrates elements from vision, planning, and control, facilitating the synthesis of autonomous, adaptive behaviors. We communicate the efficacy of MoBeE through several demonstrative experiments. We first develop Adaptive Roadmap Planning by integrating a reactive feedback controller into a roadmap planner. Then, an industrial manipulator teaches a humanoid to localize objects as the two robots operate autonomously in a shared workspace. Finally, an integrated vision, planning, control system is applied to a real-world reaching task using the humanoid robot.

Paper Citation

in Harvard Style

Frank M., Leitner J., Stollenga M., Harding S., Förster A. and Schmidhuber J. (2012). The Modular Behavioral Environment for Humanoids and other Robots (MoBeE) . In Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8565-22-8, pages 304-313. DOI: 10.5220/0004041703040313

in Bibtex Style

@conference{icinco12,
author={Mikhail Frank and Jürgen Leitner and Marijn Stollenga and Simon Harding and Alexander Förster and Jürgen Schmidhuber},
title={The Modular Behavioral Environment for Humanoids and other Robots (MoBeE)},
booktitle={Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2012},
pages={304-313},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004041703040313},
isbn={978-989-8565-22-8},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - The Modular Behavioral Environment for Humanoids and other Robots (MoBeE)
SN - 978-989-8565-22-8
AU - Frank M.
AU - Leitner J.
AU - Stollenga M.
AU - Harding S.
AU - Förster A.
AU - Schmidhuber J.
PY - 2012
SP - 304
EP - 313
DO - 10.5220/0004041703040313