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Robotics Research at the TU
Kaiserslautern
Karsten Berns
Department of Computer Science
University of Kaiserslautern, Germany
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2 Ch. Armbrust
Germany
Kaiserslautern
Frankfurt
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3 Ch. Armbrust
University of Kaiserslautern
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4 Ch. Armbrust
Forschungs- und Entwicklungsgebiete
HCI
Robotics
Framework
Behavior-
Base Control
Electronics
Computer
Architecture Control Navigation
Mapping
Sensor
Processing
Localisation
Perception
Indoor Service Robots
Clim
bin
g R
ob
ots
O
ffro
ad
-Ro
bo
ts
Humanoid Robots
HCI
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5 Ch. Armbrust
Research Projects (2011)
HCI
Indoor Service
Robots
Clim
bin
g
Ro
bo
ts
Off
road
-
Ro
bo
ts
Humanoid
Robots Emotion-based Architecture
for HRs (Carl-Zeiss)
Lego Mindstorms Robots for Education (Robert-
Bosch)
ALVeDA (DAAD)
Behavior-based control for bucket excavator
(Carl-Zeiss)
VIERforES (BMBF)
Hardware Architecture
for a bucket excavator
(Volvo)
AmSys (Land RP)
Ambiente Systems
Climbing Robot for
Inspection of
Concrete walls (AIF)
HR - Grasping and
manipulation (Honda)
Diagnosis of agriculture vehicles
based on state machines
(John Deere)
Optical range and
guidance system
(John Deere)
Analysis of a behavior-based
control system (Carl-Zeiss)
Perception system for
A bucket excavator
(InnoProm EFRE)
Budget 2011
> 700 T€
ZNT (Land RP)
Center for Commercial Vehicles Technology
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6 Ch. Armbrust
Robotics
Framework
Behavior-
Base Control
Electronics
Computer
Architecture Control Navigation
Mapping
Sensor
Processing
Localisation
Perception
Indoor Service Robots
Clim
bin
g R
ob
ots
Off
road
-Ro
bo
ts
Humanoid Robots
HCI
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7 Ch. Armbrust
Spin-off Robot Markers
Actuator 2DOF Laser Ranger 3D Water Detector
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8 Ch. Armbrust
Education
Software development for the control of Lego
Mindstorms Robots
Lecture - Basics of Embedded Systems (4 + 2 SWS)
Lecture - Basics of Robotics (2 + 1 SWS)
Seminar - Topics in Embedded Systems and Robotics
Project - Service Robots and Assistance Systems
Lecture - Biologisch motivierte Roboter (4 + 2 SWS)
Lecture - Autonome Mobile Roboter (4 + 2 SWS)
Seminar - Topics in Embedded Systems and Robotics
Project - Personal and Assistant Robots
High School
Courses
Bachelor
Master
Robotics Club Low-cost Robot concepts
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9 Ch. Armbrust
Research Activities – Overview B
ioB
ots
W
hee
l-d
rive
n
Ve
hic
les
Year 93 95 97 99 01 03 05 07 09 11
University of Kaiserslautern, RRLab
Pe
rce
ption
orien
ted
Actio
n o
rien
ted
Framework and Simulation
DO
F
Research Center of Computer Science
Karlsruhe, IDS
Pe
rce
ption
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10 Ch. Armbrust
Research on Control Concepts
• Behavior-based control architecture for complex autonomous robotic
systems
• Action-oriented and Perception-oriented design
• Verification and validation of control approaches
• Development of framework to foster reuse of components
• Computer architecture and electronics
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11 Ch. Armbrust
Behavior-Based Architecture iB2C
• Uniform behavior modules
• System is composed of many behaviors instead of large, monolithic structure
• Behavior B defined as B=(r,a,F) with
– Input vector e and output vector u sensor/control data
– Stimulation s in [0,1] gradually activating the behavior
– Inhibition i in [0,1] gradually deactivating the behavior
– Activation ι=s∙(1-i)
– Activity a in [0,1] indicating how much B is doing
– Target rating r in [0,1] assessing current situation
– Transfer function F(e,s,i)=u implementing the functionality
Basic behavior module
[Proetzsch10]:
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12 Ch. Armbrust
Modular Controller Architecture MCA2-KL
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13 Ch. Armbrust
Example GUI (RAVON)
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14 Ch. Armbrust
Electronic Design
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15 Ch. Armbrust
Offroad Robotics
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16 Ch. Armbrust
RAVON
• Robust Autonomous Vehicle for Off-road Navigation
• 4WD with separate motors
• Front and rear axles can be steered independently
• Max. velocity: 10 km/h
• Max. slope: 100% at 7 km/h
• Energy source: 8 lead batteries
• Runtime: below 3 hours
• L x W x H: 2.35 m x 1.4 m x 1.8 m
(highest point: GPS antenna)
• Weight: approx. 750 kg
• Ground clearance: 0.3 m
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17 Ch. Armbrust
Applications of Off-road Robots
• Agricultural machines (John Deere)
• Autonomous Bucket Excavator (Volvo)
– autonomous terrain shaping
• Winerow Foliage Analysis (DLR Kreuznach)
– vision-based quantitative foliage segmentation
• Participation in Commercial Vehicle Cluster
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18 Ch. Armbrust
• Long-term objective:
– Make an excavator totally autonomous
• Typical operations:
– Soil movement
– Surface reshaping
– Truck Loading
Autonomous Bucket Excavator
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19 Ch. Armbrust
Service Robots
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20 Ch. Armbrust
Forklift Robot for Education
Education Goals:
• Introduction of tools
• Closed-loop control
• Environment detection
based on camera and
distance sensors
• Search and path planning
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21 Ch. Armbrust
The Indoor Vehicle MARVIN
Research Goals:
• 3 D reconstruction
• Frontier based exploration
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22 Ch. Armbrust
Research Goals:
• Mobile service unit for elderly care
• Emergency detection
• Smart environment
ARTOS – Service Robot for Assisted Living
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23 Ch. Armbrust
Climbing Robot CROMSCI
with vacuum chambers magnetic climber
Research goals:
• Sensor Carrier for different surfaces
• Safe adhesion systems
[Hillenbrand09]
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24 Ch. Armbrust
Humanoid Robotics
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25 Ch. Armbrust
Control Concept – Hierarchical Layout
[Luksch10]
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26 Ch. Armbrust
Mechatronics of a Humanoid Robot
Human sized mechanical design
• natural ranges of motion
• motors and sensors included in the body
Degrees of freedom
• 10 DOF skin
• 6 DOF eyes
• 1 DOF mouth
• 4 DOF neck
• 3 DOF upper body
• 2 x 7 DOF arm
• 2 x 5 DOF hand
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27 Ch. Armbrust
Humanoid Robot - ROMAN
[Schmitz11]
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28 Ch. Armbrust
Thank you for your Attention!
Postal address:
University of Kaiserslautern
Fachbereich Informatik
AG Robotersysteme
(Building 48)
P.O. Box 3049
D-67653 Kaiserslautern
Germany
Phone: +49-631-205-2689
Fax: +49-631-205-2640
http://rrlab.cs.uni-kl.de/
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29 Ch. Armbrust
The Robotics Research Lab (RRLab)
RAVON
CROMSCI
MARVIN
ARTOS
ROMAN
Biped
Magneto
Forklift Robot
AMOBA
Autonomous Tractor