Using a cognitive architecture for general purpose service robot control

A humanoid service robot equipped with a set of simple action skills including navigating, grasping, recognising objects or people, among others, is considered in this paper. By using those skills the robot should complete a voice command expressed in natural language encoding a complex task (define...

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Detalles Bibliográficos
Autores: Puigbo, Jordi-Ysard, Pumarola Peris, Albert|||0000-0003-4185-6991, Angulo Bahón, Cecilio|||0000-0001-9589-8199, Téllez Lara, Ricardo
Tipo de recurso: artículo
Fecha de publicación:2015
País:España
Institución:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/81396
Acceso en línea:https://hdl.handle.net/2117/81396
https://dx.doi.org/10.1080/09540091.2014.968093
Access Level:acceso abierto
Palabra clave:robot control
general purpose robot
cognitive architecture
service robot
SOAR
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
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oai_identifier_str oai:upcommons.upc.edu:2117/81396
network_acronym_str ES
network_name_str España
repository_id_str
spelling Using a cognitive architecture for general purpose service robot controlPuigbo, Jordi-YsardPumarola Peris, Albert|||0000-0003-4185-6991Angulo Bahón, Cecilio|||0000-0001-9589-8199Téllez Lara, Ricardorobot controlgeneral purpose robotcognitive architectureservice robotSOARClassificació INSPEC::Automation::RobotsÀrees temàtiques de la UPC::Informàtica::RobòticaA humanoid service robot equipped with a set of simple action skills including navigating, grasping, recognising objects or people, among others, is considered in this paper. By using those skills the robot should complete a voice command expressed in natural language encoding a complex task (defined as the concatenation of a number of those basic skills). As a main feature, no traditional planner has been used to decide skills to be activated, as well as in which sequence. Instead, the SOAR cognitive architecture acts as the reasoner by selecting which action the robot should complete, addressing it towards the goal. Our proposal allows to include new goals for the robot just by adding new skills (without the need to encode new plans). The proposed architecture has been tested on a human-sized humanoid robot, REEM, acting as a general purpose service robot.Peer Reviewed20152015-04-0320162016-01-13journal articlehttp://purl.org/coar/resource_type/c_6501AMhttp://purl.org/coar/version/c_ab4af688f83e57aainfo:eu-repo/semantics/articleapplication/pdfhttps://hdl.handle.net/2117/81396https://dx.doi.org/10.1080/09540091.2014.968093reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/813962026-05-27T15:37:01Z
dc.title.none.fl_str_mv Using a cognitive architecture for general purpose service robot control
title Using a cognitive architecture for general purpose service robot control
spellingShingle Using a cognitive architecture for general purpose service robot control
Puigbo, Jordi-Ysard
robot control
general purpose robot
cognitive architecture
service robot
SOAR
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
title_short Using a cognitive architecture for general purpose service robot control
title_full Using a cognitive architecture for general purpose service robot control
title_fullStr Using a cognitive architecture for general purpose service robot control
title_full_unstemmed Using a cognitive architecture for general purpose service robot control
title_sort Using a cognitive architecture for general purpose service robot control
dc.creator.none.fl_str_mv Puigbo, Jordi-Ysard
Pumarola Peris, Albert|||0000-0003-4185-6991
Angulo Bahón, Cecilio|||0000-0001-9589-8199
Téllez Lara, Ricardo
author Puigbo, Jordi-Ysard
author_facet Puigbo, Jordi-Ysard
Pumarola Peris, Albert|||0000-0003-4185-6991
Angulo Bahón, Cecilio|||0000-0001-9589-8199
Téllez Lara, Ricardo
author_role author
author2 Pumarola Peris, Albert|||0000-0003-4185-6991
Angulo Bahón, Cecilio|||0000-0001-9589-8199
Téllez Lara, Ricardo
author2_role author
author
author
dc.subject.none.fl_str_mv robot control
general purpose robot
cognitive architecture
service robot
SOAR
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
topic robot control
general purpose robot
cognitive architecture
service robot
SOAR
Classificació INSPEC::Automation::Robots
Àrees temàtiques de la UPC::Informàtica::Robòtica
description A humanoid service robot equipped with a set of simple action skills including navigating, grasping, recognising objects or people, among others, is considered in this paper. By using those skills the robot should complete a voice command expressed in natural language encoding a complex task (defined as the concatenation of a number of those basic skills). As a main feature, no traditional planner has been used to decide skills to be activated, as well as in which sequence. Instead, the SOAR cognitive architecture acts as the reasoner by selecting which action the robot should complete, addressing it towards the goal. Our proposal allows to include new goals for the robot just by adding new skills (without the need to encode new plans). The proposed architecture has been tested on a human-sized humanoid robot, REEM, acting as a general purpose service robot.
publishDate 2015
dc.date.none.fl_str_mv 2015
2015-04-03
2016
2016-01-13
dc.type.none.fl_str_mv journal article
http://purl.org/coar/resource_type/c_6501
AM
http://purl.org/coar/version/c_ab4af688f83e57aa
dc.type.openaire.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/81396
https://dx.doi.org/10.1080/09540091.2014.968093
url https://hdl.handle.net/2117/81396
https://dx.doi.org/10.1080/09540091.2014.968093
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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