Towards long-lived robot genes

Fitzpatrick, Paul; Metta, Giorgio; Natale, Lorenzo

doi:10.1016/j.robot.2007.09.014

Cited by 148 publications

(68 citation statements)

References 16 publications

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“…All the software developed during this project for the iCub robot, and notably the code for crawling and drumming that will be presented below, is open source. The software is based on the open source library YARP developed by Fitzpatrick et al (2008) to support software development and integration in robotics.…”

Section: Robotcubmentioning

confidence: 99%

Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives

2011

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Vertebrates are able to quickly adapt to new environments in a very robust, seemingly effortless way. To explain both this adaptivity and robustness, a very promising perspective in neurosciences is the modular approach to movement generation: Movements results from combinations of a finite set of stable motor primitives organized at the spinal level. In this article we apply this concept of modular generation of movements to the control of robots with a high number of degrees of freedom, an issue that is challenging notably because planning complex, multidimensional trajectories in time-varying environments is a laborious and costly process. We thus propose to decrease the complexity of the planning phase through the use of a combination of discrete and rhythmic motor primitives, leading to the decoupling of the planning phase (i.e. the choice of behavior) and the actual trajectory generation. Such implementation eases the control of, and the switch between, different behaviors by reducing the dimensionality of the high-level commands. Moreover, since the motor primitives are generated by dynamical systems, the trajectories can be smoothly modulated, either by high-level commands to change the current behavior or by sensory feedback information to adapt to environmental constraints. In order to show the generality of our approach, we apply the framework to interactive drumming and infant crawling in a humanoid robot. These experiments illustrate the simplicity of the control architecture in terms of planning, the integration of different types * This work was supported by the European Commission's Cognition Unit, projects RobotCub and AMARSi. S.G. is funded by a IST-EPFL grant.of feedback (vision and contact) and the capacity of autonomously switching between different behaviors (crawling and simple reaching).

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Section: Robotcubmentioning

confidence: 99%

Toward simple control for complex, autonomous robotic applications: combining discrete and rhythmic motor primitives

2011

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“…Examples of other popular middleware solutions for robotic applications are Player [16], ROS [17], YARP [18], and OROCOS [19]. OROCOS is the only inherently realtime capable among them.…”

Section: The Arcade Middlewarementioning

confidence: 99%

A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems

Rambow

Rohrmüller

Kourakos

et al. 2010

IEICE Trans. Inf. & Syst.

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SUMMARYRobotic systems operating in the real-world have to cope with unforeseen events by determining appropriate decisions based on noisy or partial knowledge. In this respect high functional robots are equipped with many sensors and actuators and run multiple processing modules in parallel. The resulting complexity is even further increased in case of cooperative multi-robot systems, since mechanisms for joint operation are needed. In this paper a complete and modular framework that handles this complexity in multi-robot systems is presented. It provides efficient exchange of generated data as well as a generic scheme for task execution and robot coordination.

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“…The iCub software was developed on top of Yarp [15]. RobotCub supported a major overhaul of the Yarp libraries to adapt to a more demanding collaborative environment.…”

Section: The Software: Yarpmentioning

confidence: 99%