Advertisement

HERMES — an Intelligent Humanoid Robot Designed and Tested for Dependability

  • Rainer Bischoff
  • Volker Graefe
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 5)

Abstract

The problem of dependability is addressed in the context of intelligent experimental robots. Although this problem is now increasingly attracting attention among robotics researchers, it seems that still many of us are satisfied, if our robots perform just once or twice, and avoid to worry about dependability. In contrast to this, the authors of this paper think that dependability is largely a consequence of fundamental design decisions and that it should be considered by anyone who builds an experimental robot. We present a number of design principles that lead to an improved dependability of intelligent robots. These principles have guided us in the design and construction of our humanoid robot HERMES. We claim that it is indispensable to actually build entire robots and to integrate all their subsystems to study the dependability of service robots experimentally. Experiences gained in several public short term presentations and in a long-term test when HERMES was operated by non-experts in a museum for more than 6 months up to 18 hours per day are reported.

Keywords

Mobile Robot Trade Fair Humanoid Robot Service Robot Behavior Selection 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Arkin, R. C. (1998): Behavior-Based Robotics. MIT Press, Cambridge, MA, 1998.Google Scholar
  2. Bischoff, R. (1997): HERMES-A Humanoid Mobile Manipulator for Service Tasks. Proc. of the Intern. Conf. on Field and Service Robotics. Canberra, Australia, Dec. 1997, pp. 508–515.Google Scholar
  3. Bischoff, R.; Graefe, V. (1999): Integrating Vision, Touch and Natural Language in the Control of a Situation-Oriented Behavior-Based Humanoid Robot. IEEE Conference on Systems, Man, and Cybernetics. Tokyo, October 1999, pp. II-999–II-1004.Google Scholar
  4. Bischoff; R.; Petchartee, S.; Graefe, V. (2001): Improving the Dependability of Humanoids. Proceedings 2nd IEEE-RAS International Conference on Humanoid Robots. Tokyo, Japan, pp 51–58.Google Scholar
  5. Burgard, W.; Cremers, A. B.; Fox, D.; Hähnel, D.; Lakemeyer, G.; Schulz, D.; Steiner, W.; Thrun, S. (1999): Experiences with an interactive museum tour-guide robot. Artif. Intelligence, 114(1–2):3–55.zbMATHCrossRefGoogle Scholar
  6. Endres, H.; Feiten, W.; Lawitzky, G. (1998): Field test of a navigation system: Autonomous cleaning in supermarkets. Proc. IEEE Int. Conference on Robotics and Automation, ICRA 1998, pp. 1779–1784.Google Scholar
  7. Graefe, V. (1989): Dynamic Vision Systems for Autonomous Mobile Robots. Proc. IEEE/RSJ International Workshop on Intelligent Robots and Systems, IROS’ 89. Tsukuba, pp. 12–23.Google Scholar
  8. Graefe, V. (1995): Object-and Behavior-oriented Stereo Vision for Robust and Adaptive Robot Control. Intern. Symp. on Microsystems, Intelligent Materials, and Robots. Sendai, pp. 560–563.Google Scholar
  9. Graefe, V.; Bischoff, R. (2001): Three Examples of Learning Robots. CD ROM-Proceedings, 2001ICASE Int. Conf. on Control, Automation and System, ICCAS’ 01. Jeju Island, Korea, 2001.Google Scholar
  10. Graf, B.; Schraft, R.D.; Neugebauer, J. (2000): A Mobile Robot Platform for Assistance and Entertainment. Proceedings of 31 International Symposium on Robotics, ISR-2000. Montreal. stGoogle Scholar
  11. King, S.; Weiman, C. (1990): Helpmate autonomous mobile navigation system. Proceedings of SPIE Conference on Mobile Robots. Vol. 2352. Boston, MA, pp. 190–198.Google Scholar
  12. Laprie, J. C. (1992): Dependability: Basic Concepts and Terminology. Springer-Verlag, 1992.Google Scholar
  13. Nourbakhsh, I.; Bobenage, J.; Grange, S.; Lutz, R.; Meyer, R.; Soto, A. (1999): An Affective Mobile Educator with a Full-time Job. Artificial Intelligence, 114(1–2), pp. 95–124.zbMATHCrossRefGoogle Scholar
  14. Simmons, R.; Fernandez, J.; Goodwin, R.; Koenig, S.; O’Sullivan, J. (1999): Xavier: An autonomous mobile robot on the web. Robotics and Automation Magazine, 1999.Google Scholar
  15. Tschichold, N., Vestli, S., Schweitzer, G. (2001): The Service Robot MOPS: First Operating Experiences. Robotics and Autonomous Systems 34:165–173, 2001.zbMATHCrossRefGoogle Scholar
  16. Thrun, S.; Beetz, M.; Bennewitz, M.; Burgard, W.; Cremers, A. B.; Dellaert, F.; Fox, D.; Hähnel, D.; Rosenberg, C.; Roy, N.; Schulte, J.; Schulz, D. (2000): Probabilistic algorithms and the interactive museum tour-guide robot minerva. Intern. Journal of Robotics Research, Vol. 19, No. 11, pp. 972–999.CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2003

Authors and Affiliations

  • Rainer Bischoff
    • 1
  • Volker Graefe
    • 1
  1. 1.The Institute of Measurement ScienceBundeswehr University MunichNeubibergGermany

Personalised recommendations