DocumentCode :
1146486
Title :
HERMES - a versatile personal robotic assistant
Author :
Bischoff, Rainer ; Graefe, Volker
Author_Institution :
KUKA Controls GmbH, Neubiberg, Germany
Volume :
92
Issue :
11
fYear :
2004
Firstpage :
1759
Lastpage :
1779
Abstract :
We have developed a humanoid robot, HERMES, to study several key technologies that are important for personal robots, such as robot design, sensors and perception, locomotion, localization and navigation, manipulation, human-robot communication and interaction, adaptability and learning, system architecture and integration, and dependability. The robot´s skill-based system architecture was derived from a qualitative model of human information processing and insights gained from psychological literature dealing with skill acquisition, human performance and motor learning. HERMES´ system architecture, several of its skills and the design principles are introduced, and some experiments carried out with the real robot are presented, including a long-term test where HERMES served in a museum, far away from its home laboratory, for more than six months up to 12 hours per day. During this period the robot and its skills were regularly demonstrated to the public by nonexpert presenters. Also, HERMES interacted with the visitors, chatted with them in English, French and German, answered questions and performed services as requested by them.
Keywords :
learning (artificial intelligence); man-machine systems; mobile robots; navigation; tactile sensors; HERMES; adaptability; human information processing; human performance; human-robot communication; human-robot interaction; humanoid robot; localization; locomotion; long term test; manipulation; motor learning; museum; navigation; nonexpert presenters; perception; qualitative model; robot design; robot skill based system architecture; sensors; skill acquisition; system dependability; system integration; versatile personal robotic assistant; Human robot interaction; Humanoid robots; Information processing; Intelligent robots; Machinery production industries; Manufacturing industries; Orbital robotics; Robot sensing systems; Robotics and automation; Service robots; Human information processing; human–robot communication; human–robot interaction; humanoid robot; long-term experiment; personal robot; skill-based system architecture;
fLanguage :
English
Journal_Title :
Proceedings of the IEEE
Publisher :
ieee
ISSN :
0018-9219
Type :
jour
DOI :
10.1109/JPROC.2004.835381
Filename :
1347457
Link To Document :
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