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• W2407524210 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 ComputerVision, 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 threedisciplines. 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 softwareengineering problem, and have therefore developed MoBeE , a novel behavioral framework for humanoids andother complex robots, which integrates elements from vision, planning, and control, facilitating the synthesisof autonomous, adaptive behaviors. We communicate the efficacy of MoBeE through several demonstrativeexperiments. We first develop Adaptive Roadmap Planning by integrating a reactive feedback controller intoa roadmap planner. Then, an industrial manipulator teaches a humanoid to localize objects as the two robotsoperate autonomously in a shared workspace. Finally, an integrated vision, planning, control system is appliedto a real-world reaching task using the humanoid robot." @default.
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• W2407524210 date "2012-01-01" @default.
• W2407524210 modified "2023-09-25" @default.
• W2407524210 title "The Modular Behavioral Environment for Humanoids and other Robots (MoBeE)" @default.
• W2407524210 doi "https://doi.org/10.5220/0004041703040313" @default.
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