WP3 Skills for differentiated robot fleets
Lead Partner: AAU
The skills are the main thrust for this project. They will provide an abstraction from the common macro-based
robot control towards a higher level representation where a motor control, sensing, memory and planning is
integrated. Also, skills are meant to provide a hardware abstraction layer so that they are independent from the actual embodiment. The skill-formalism results from experiences from a number of EU projects and should allow the realization of a truly cognitive robot in a limited and partially controllable scenario setting.
The overall objective of this WP is the building of the unifying skill framework, which will serve as a cognitive
substrate, by taking into account the robot control from WP2. The aim is to arrive at a set of skills that are
as much as possible hardware independent. At the same time, the de-facto dependence of the skills on the
hardware has to be acknowledged, e.g., depending on the tool, the robot may have different skills, or the skills may execute differently.
- defines the software architecture that facilitates the integration of the different robot controls from WP2 into a joint skill-based system
- identifies the set of necessary skills that are required to complete the list of common missions.
- Identifies the dependencies of the skills on the hardware
- actually integrates the different robot controls from WP2 into a skill structure with pre-conditions, prediction and evaluation, that handles the interfacing with the hardware and sensory devices,
- selects and implements a task planner that controls the skills,
- defines a touch pad based human robot interface that allows ordinary shop floor workers to select a task from a task library to control the robot.