Paper Info
Title
Multiple humanoid cooperative control system for heterogeneous humanoid team
Abstract
This paper presents a multiple humanoid cooperative control system(MHCCS) developed for the demonstration of heterogeneous humanoid collaborating to complete a mission consists of multiple humanoid tasks. MHCCS consists of CORBA based framework, humanoid control software, multiple humanoid cooperative control software, sensing software. Multiple humanoid cooperative control software consists of 3 layers: mission layer, task layer, action layer. User can design a task for humanoid by drawing a state diagram using developed graphical user interface, or edit XML-based command script directly. We defined action primitives suitable to abstract humanoid tasks by using state diagram, which is stored in a knowledge database for the future use. The developed MHCCS is successfully tested through the demonstration of a heterogeneous humanoid team cleaning the tables without confliction.
Year
DOI
Venue
2008
10.1109/ROMAN.2008.4600671
RO-MAN
Keywords
Field
DocType
state diagram,xml,multiple humanoid cooperative control software,action layer,heterogeneous humanoid team,task layer,control engineering computing,service robots,sensing software,corba based framework,distributed object management,graphical user interface,humanoid control software,xml-based command script,graphical user interfaces,mission layer,multiple humanoid cooperative control system,groupware,robots,graphic user interface
XML,Computer science,Collaborative software,Simulation,Common Object Request Broker Architecture,State diagram,Graphical user interface,Software,Control system,Robot
Conference
ISBN
Citations 
PageRank 
978-1-4244-2213-5
4
0.45
References 
Authors
3
5
Name
Order
Citations
PageRank
Heonyoung Lim1141.76
Yeonsik Kang2916.69
Joong-Jae Lee3486.89
Jongwon Kim41042153.38
Bum-Jae You540252.66