000 Allgemeines, Wissenschaft
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Simulated reality environment incorporating humans and physically plausible behaving robots, providing natural interaction channels, with the option to link simulator to real perception and motion, is gaining importance for the development of cognitive, intuitive interacting and collaborating robotic systems. In the present work we introduce a head tracking system which is utilized to incorporate human ego motion in simulated environment improving immersion in the context of human-robot collaborative tasks.
Autonomous robots with limited computational capacity call for control approaches that generate meaningful, goal-directed behavior without using a large amount of resources. The attractor dynamics approach to movement generation is a framework that links sensor data to motor commands via coupled dynamical systems that have attractors at behaviorally desired states. The low computational demands leave enough system resources for higher level function like forming a sequence of local goals to reach a distant one. The comparatively high performance of local behavior generation allows the global planning to be relatively simple. In the present paper, we apply this approach to generate walking trajectories for a small humanoid robot, the Aldebaran Nao, that are goal-directed and avoid obstacles. The sensor information is a single camera in the head of the robot. The limited field of vision is compensated by head movements. The design of the dynamical system for motion generation and the choice of state variable makes a computationally expensive scene representation or local map building unnecessary.