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dc.contributor.authorPuigbo, Jordi-Ysard
dc.contributor.authorPumarola Peris, Albert
dc.contributor.authorAngulo Bahón, Cecilio
dc.contributor.authorTéllez Lara, Ricardo
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.date.accessioned2016-01-13T17:55:21Z
dc.date.available2016-01-13T17:55:21Z
dc.date.issued2015-04-03
dc.identifier.citationPuigbo, J., Pumarola, A., Angulo, C., Téllez, R. Using a cognitive architecture for general purpose service robot control. "Connection science", 03 Abril 2015, vol. 27, núm. 2, p. 105-117.
dc.identifier.issn0954-0091
dc.identifier.urihttp://hdl.handle.net/2117/81396
dc.description.abstractA 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.
dc.format.extent13 p.
dc.language.isoeng
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.otherrobot control
dc.subject.othergeneral purpose robot
dc.subject.othercognitive architecture
dc.subject.otherservice robot
dc.subject.otherSOAR
dc.titleUsing a cognitive architecture for general purpose service robot control
dc.typeArticle
dc.contributor.groupUniversitat Politècnica de Catalunya. GREC - Grup de Recerca en Enginyeria del Coneixement
dc.identifier.doi10.1080/09540091.2014.968093
dc.description.peerreviewedPeer Reviewed
dc.subject.inspecClassificació INSPEC::Automation::Robots
dc.rights.accessOpen Access
local.identifier.drac15830573
dc.description.versionPostprint (author's final draft)
dc.relation.projectidinfo:eu-repo/grantAgreement/MINECO/6PN/TIN2012-38416-C03-01
local.citation.authorPuigbo, J.; Pumarola, A.; Angulo, C.; Téllez, R.
local.citation.publicationNameConnection science
local.citation.volume27
local.citation.number2
local.citation.startingPage105
local.citation.endingPage117


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