Zusammenfassung: |
The development of humanoid robots rises many challenges in the areas of mechatronics, control and sensor processing. Several partial solutions in the mentioned areas are available but still many unsolved problems do exist. This paper presents a basic concept for a sensor processing system for humanoid robots. The proposed perception system consists of three basic components: information capturing, information memory and information extraction. The capturing module interprets the measurements of the sensors and generates basic statements about the environment. This information is combined to a compact description of objects of interest which is stored in a short term memory. The short term memory is used to extract time depended information from the object descriptions. Experimental results performed with the humanoid robot ROMAN and a behavior-based control architecture show the capabilities of the proposed approach. |
