Autonomous Task Execution of a Humanoid Robot using a Cognitive Model

Title
Autonomous Task Execution of a Humanoid Robot using a Cognitive Model
Authors
김강건이지용최동규박정민유범재
Issue Date
2010-12
Publisher
The 2010 IEEE International Conference on Robotics and Biomimetics
Citation
, 405-410
Abstract
Cognitive architectures provide infrastructure for modeling human cognition. Recent studies reveal that these architectures are useful control mechanisms for a variety of robots. Previously, we showed one such architecture, ICARUS, can successfully control a humanoid robot for Blocks World tasks in a simulated environment. In the current work, we extend the application to the real world and use the architecture to perform similar tasks with Mahru-Z platform. As commonly expected, we encountered many challenges in system integration, vision-based information updates, and manipulation tasks. This paper reports the result of our initial work to address some of these issues. The successful completion of a color sorting task indicates the system is capable to adapt to such challenges and we expect similar results in more complicated tasks in this domain.
URI
http://pubs.kist.re.kr/handle/201004/39235
Appears in Collections:
KIST Publication > Conference Paper
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