A generic robot database and its application in fault analysis and performance evaluation

摘要

During operation of robots large amounts of data are produced and processed for instance in perception, actuation, or decision making. Nowadays this data is typically volatile and disposed right after use. But this data can be valuable and useful later. Therefore we propose a database system that taps into common robot middleware to record any and all data produced at run-time. We present two examples using this data in fault analysis and performance evaluation and describe real-world experiments run on the domestic service robot HERB.