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.

This WP 

  1. defines the software architecture that facilitates the integration of the different robot controls from WP2 into a joint skill-based system
  2. identifies the set of necessary skills that are required to complete the list of common missions.
  3. Identifies the dependencies of the skills on the hardware
  4. 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,
  5. selects and implements a task planner that controls the skills,
  6. 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.

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