Karsten Berns Department of Computer Science University of Kaiserslautern, Germany
Germany
Frankfurt Kaiserslautern
Ch. Armbrust
2
University of Kaiserslautern
Ch. Armbrust
3
Forschungs- und Entwicklungsgebiete Indoor Service Robots
Localisation
Electronics Control
Computer Architecture
Robotics Framework Navigation
HCI HCI
Behavior-
Climbing Robots
Offroad-Robots
Mapping
Base Control Sensor Processing
Perception
Humanoid Robots Ch. Armbrust
4
Research Projects (2011) Lego Mindstorms Robots for Education (Robert-
VIERforES
(BMBF)
Bosch)
Diagnosis of agriculture vehicles
Analysis of a behavior-based Indoor Service
based on state machines
control system (Carl-Zeiss)
Robots
(John Deere)
AmSys (Land RP)
Optical range and
Ambiente Systems Robots
for a bucket excavator
Offroad-
Hardware Architecture
HCI
> 700 T€
Perception system for
manipulation (Honda)
Humanoid Robots
Behavior-based control for bucket excavator (Carl-Zeiss)
ALVeDA
(DAAD)
Inspection of
HR - Grasping and
A bucket excavator (InnoProm EFRE)
Climbing Robot for Concrete walls (AIF)
Budget 2011
(Volvo)
Climbing
(John Deere)
Robots
guidance system
Emotion-based Architecture for HRs (Carl-Zeiss) ZNT (Land RP) Center for Commercial Vehicles Technology Ch. Armbrust 5
Indoor Service Robots
Electronics Control
Computer Architecture
Localisation
Robotics Framework
Navigation
HCI
Behavior-
Climbing Robots
Offroad-Robots
Mapping
Base Control Sensor Processing
Perception
Humanoid Robots
Ch. Armbrust
6
Spin-off Robot Markers
Actuator 2DOF
Laser Ranger 3D
Water Detector
Ch. Armbrust
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Education High School Software development for the control of Lego Mindstorms Robots Courses Bachelor
Lecture - Basics of Embedded Systems (4 + 2 SWS) Lecture - Basics of Robotics (2 + 1 SWS) Seminar - Topics in Embedded Systems and Robotics Project - Service Robots and Assistance Systems
Master
Lecture - Biologisch motivierte Roboter (4 + 2 SWS) Lecture - Autonome Mobile Roboter (4 + 2 SWS) Seminar - Topics in Embedded Systems and Robotics Project - Personal and Assistant Robots
Robotics Club
Low-cost Robot concepts Ch. Armbrust
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University of Kaiserslautern, RRLab Perception oriented
Karlsruhe, IDS
Action oriented
Vehicles Perception
Research Center of Computer Science
DOF
BioBots
Wheel-driven
Research Activities – Overview
93
95
97
99
01
03
05
07
09
11
Year
Framework and Simulation Ch. Armbrust
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Research on Control Concepts •
Behavior-based control architecture for complex autonomous robotic systems
•
Action-oriented and Perception-oriented design
•
Verification and validation of control approaches
•
Development of framework to foster reuse of components
•
Computer architecture and electronics
Ch. Armbrust
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Behavior-Based Architecture iB2C • •
Uniform behavior modules System is composed of many behaviors instead of large, monolithic structure
•
Behavior B defined as B=(r,a,F) with – Input vector e and output vector u sensor/control data – Stimulation s in [0,1] gradually activating the behavior – Inhibition i in [0,1] gradually deactivating the behavior – Activation ι=s∙(1-i) – Activity a in [0,1] indicating how much B is doing – Target rating r in [0,1] assessing current situation – Transfer function F(e,s,i)=u implementing the functionality
Basic behavior module
[Proetzsch10]:
Ch. Armbrust
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Modular Controller Architecture MCA2-KL
Ch. Armbrust
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Example GUI (RAVON)
Ch. Armbrust
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Electronic Design
Ch. Armbrust
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Offroad Robotics
Ch. Armbrust
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RAVON • • • • • • • • • •
Robust Autonomous Vehicle for Off-road Navigation 4WD with separate motors Front and rear axles can be steered independently Max. velocity: 10 km/h Max. slope: 100% at 7 km/h Energy source: 8 lead batteries Runtime: below 3 hours L x W x H: 2.35 m x 1.4 m x 1.8 m (highest point: GPS antenna) Weight: approx. 750 kg Ground clearance: 0.3 m
Forklift Robot for Education Education Goals: • Introduction of tools • Closed-loop control • Environment detection based on camera and distance sensors • Search and path planning
Ch. Armbrust
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The Indoor Vehicle MARVIN
Research Goals: • 3 D reconstruction • Frontier based exploration Ch. Armbrust
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ARTOS – Service Robot for Assisted Living
Research Goals: • Mobile service unit for elderly care • Emergency detection • Smart environment Ch. Armbrust
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Climbing Robot CROMSCI with vacuum chambers
magnetic climber
Research goals: • Sensor Carrier for different surfaces • Safe adhesion systems [Hillenbrand09] Ch. Armbrust
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Humanoid Robotics
Ch. Armbrust
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Control Concept – Hierarchical Layout
[Luksch10] Ch. Armbrust
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Mechatronics of a Humanoid Robot Human sized mechanical design •
natural ranges of motion
•
motors and sensors included in the body
Degrees of freedom •
10 DOF skin
•
6 DOF eyes
•
1 DOF mouth
•
4 DOF neck
•
3 DOF upper body
•
2 x 7 DOF arm
•
2 x 5 DOF hand
Ch. Armbrust
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Humanoid Robot - ROMAN
[Schmitz11] Ch. Armbrust
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Thank you for your Attention! Postal address: University of Kaiserslautern Fachbereich Informatik AG Robotersysteme (Building 48) P.O. Box 3049 D-67653 Kaiserslautern Germany Phone: +49-631-205-2689 Fax: +49-631-205-2640
