Context Aware Robot Architecture, Application to the RoboCup@Home Challenge

Fabrice Jumel (1, 2, 3) , Jacques Saraydaryan (1, 2, 3) , Raphael Leber (2) , Laëtitia Matignon (1, 3, 4) , Eric Lombardi (5) , Christian Wolf (5, 1, 3) , Olivier Simonin (1, 3, 6)

1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
2 CPE - Department of Computer Science [Lyon]
3 CITI - CITI Centre of Innovation in Telecommunications and Integration of services
4 SyCoSMA - Systèmes Cognitifs et Systèmes Multi-Agents
5 imagine - Extraction de Caractéristiques et Identification
6 INSA - Institut National des Sciences Appliquées

This paper presents an architecture dedicated to the orchestration of high level abilities of a humanoid robot, such as a Pepper, which must perform some tasks as the ones proposed in the RoboCup@Home competition. We present the main abilities that a humanoid service robot should provide. We choose to build them based on recent methodologies linked to social navigation and deep learning. We detail the architecture, on how high level abilities are connected with low level sub-functions. Finally we present first experimental results with a Pepper humanoid.

Domaines: Robotique [cs.RO]

Fabrice Jumel, Jacques Saraydaryan, Raphael Leber, Laëtitia Matignon, Eric Lombardi, et al.. Context Aware Robot Architecture, Application to the RoboCup@Home Challenge. RoboCup symposium, Jun 2018, Montreal, Canada. pp.1-12, ⟨10.1007/978-3-030-27544-0_17⟩. ⟨hal-01832613⟩