Controlling a General Purpose Service Robot By Means of a Cognitive Architecture.

摘要

Abstract. In this paper, a humanoid service robot is equipped with a set of simple action skills including navigating, grasping, recognizing objects or people, among others. By using those skills the robot has to complete a voice command in natural language that encodes a complex task (defined as the concatenation of several of those basic skills). To decide which of those skills should be activated and in which sequence no traditional planner has been used. Instead, the SOAR cognitive architecture acts as the reasoner that selects the current action the robot must do, moving it towards the goal. We tested it on a human size humanoid robot Reem acting as a general purpose service robot. The architecture allows to include new goals by just adding new skills (without having to encode new plans). 1