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- Zeitschriftenartikel16 Years of RoboCup Rescue(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Sheh, Raymond; Schwertfeger, Sören; Visser, ArnoudThe RoboCup Rescue competitions have been initiated in 2000. To celebrate 16 years of research and development in this socially relevant initiative this article gives an overview of the experience gained during these competitions. This article provides an overview the state-of-the-art and the lessons learned from the RoboCup Rescue competitions.
- Zeitschriftenartikel20 Years of RoboCup(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Ferrein, Alexander; Steinbauer, GeraldThis summer, RoboCup competitions were held for the 20th time in Leipzig, Germany. It was the second time that RoboCup took place in Germany, 10 years after the 2006 RoboCup in Bremen. In this article, we give an overview on the latest developments of RoboCup and what happened in the different leagues over the last decade. With its 20th edition, RoboCup clearly is a success story and a role model for robotics competitions. From our personal view point, we acknowledge this by giving a retrospection about what makes RoboCup such a success.
- Zeitschriftenartikel20 Years of RoboCup(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Visser, Ubbo
- Zeitschriftenartikel20 Years of RoboCup(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Steinbauer, Gerald; Ferrein, Alexander
- ZeitschriftenartikelAI and Robotics: RoboCup Evolution(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Visser, Ubbo
- ZeitschriftenartikelAn Adaptive LIPM-based Dynamic Walk using Model Parameter Optimization on Humanoid Robots(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Seekircher, Andreas; Visser, UbboEven with the recent advances in the area of dynamic walking on humanoid robots there is still a significant amount of manual calibration required in practice due to the variances in the hardware. That is in order to achieve the performance needed in environments such as RoboCup. We present a LIPM-based closed-loop walk, that adapts to differences in the physical behavior of the robot by optimizing parameters of the model directly on the NAO while walking and executing other tasks. A significant amount of errors in the model predictions can be reduced without using a more complex model simply by adjusting the LIPM to fit the observed behavior. Our experiments show that the optimized model yields a more controlled, faster and even more energy-efficient walk on different NAO robots and on various surfaces without additional manual parameter tuning.
- ZeitschriftenartikelAn Object Template Approach to Manipulation for Humanoid Avatar Robots for Rescue Tasks(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Romay, Alberto; Kohlbrecher, Stefan; Stryk, Oskar vonNowadays, the first steps towards the use of remote mobile robots to perform rescue tasks in disaster environments have been made possible. However, these environments still present several challenges for robots, which open new possibilities for research and development. For example, fully autonomous robots are not yet suitable for such tasks with high degree of uncertainty, and pure teloperated robots require high expertise and high mental workload, as well as fast communication to be reliable. In this paper, we discuss a middle ground approach to manipulation, that leverages the strengths and abilities of a human supervisor and a semi-autonomous robot while at the same tackling their weaknesses. This approach is based on the object template concept, which provides an interaction method to rapidly communicate to a remote robot the physical and abstract information for manipulation of the objects of interest. This approach goes beyond current grasp-centered approaches by focusing on the affordance information of the objects and providing flexibility to solve manipulation tasks in versatile ways. Experimental evaluation of the approach is performed using two highly advanced humanoid robots.
- ZeitschriftenartikelCognitive Assistance in Government and Public Sector Applications(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Howell, Chuck; Stein, Frank; Kordella, Scott; Booker, Lashon; Rockower, Ed; Motahari, Hamid; Campbell, Murray; Spohrer, JimThe Cognitive Assistance in Government and Public Sector symposium was held in Arlington, VA, USA, from November 12–14, 2015 as part of the Association for the Advancement of Artificial Intelligence (AAAI) Fall Symposium Series. The goal of this symposium was to present the state of cognitive assistance projects and to identify the opportunities and challenges of creating Cognitive Assistance (Cog) systems with an emphasis on the challenges and opportunities presented by Government and public sector applications. We hoped the outcome from the symposium could be used to scope a research agenda based on gaps in current capabilities.
- ZeitschriftenartikelFrom RoboCup Rescue to Supervised Autonomous Mobile Robots for Remote Inspection of Industrial Plants(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Kohlbrecher, Stefan; Stryk, Oskar vonWith increasing capabilities and reliability of autonomous mobile robots, inspection of remote industrial plants in challenging environments becomes feasible. With the ARGOS challenge, oil and gas company TOTAL S.A. initiated an international competition aimed at the development of the first autonomous mobile robot which can safely operate in complete or supervised autonomy over the entire onshore or offshore production site, potentially in hazardous explosive atmospheres and harsh conditions. In this work, the approach of joint Austrian–German Team ARGONAUTS towards solving this challenge is introduced, focussing on autonomous capabilities. These build on functional components developed during prior participation in the RoboCup Rescue Robot League.
- ZeitschriftenartikelFull-Body Motion Planning for Humanoid Robots using Rapidly Exploring Random Trees(KI - Künstliche Intelligenz: Vol. 30, No. 0, 2016) Baltes, Jacky; Bagot, Jonathan; Sadeghnejad, Soroush; Anderson, John; Hsu, Chen-HsienHumanoid robots with many degrees of freedom have an enormous range of possible motions. To be able to move in complex environments and dexterously manipulate objects, humanoid robots must be capable of creating and executing complex sequences of motions to accomplish their tasks. For soccer playing robots (e.g., the participants of RoboCup), the highly dynamic environment require real-time motion planning in spite of the enormous search space of possible motions. In this research, we propose a practical solution to the general movers problem in the context of motion planning for robots. The proposed robot motion planner uses a sample-based tree planner combined with an incremental simulator that models not only collisions, but also the dynamics of the motion. Thus it can ensure that the robot will be dynamically stable while executing the motion. The effectiveness of the robot motion planner is demonstrated both in simulation and on a real robot, using a variation of the Rapidly Exploring Random Tree (RRT) type of motion planner. The results of our empirical evaluation show that CONNECT works better than EXTEND versions of the RRT algorithms in simple domains, but that this advantage disappears in more obstacle-filled environments. The evaluation also shows that our motion planning system is able to find and execute complex motion plans for a small humanoid robot.