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Towards cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots

机译：走向异构自主机器人的合作：以人形机器人和轮式机器人为例

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In this paper a case study of the cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended, compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required in order to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed, including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.
机译：本文以一个高度异构的自主机器人团队的合作为例，该团队由高度铰接的类人机器人和轮式机器人组成，具有很大的互补性和一些冗余能力。与通常考虑的同类机器人团队相比，通过结合强大的异构机器人，随着机器人系统感测和运动能力的扩展，可完成任务的多样性也会增加。讨论了实现异构自主机器人长期合作目标所需的许多方法和技术，包括建模任务和机器人能力，任务分配和重新分配，机器人行为建模和编程，机器人中间件和机器人仿真。在此案例研究中，提供了示例解决方案及其在自主轮式和类人机器人协作中的应用。该场景描述了紧密耦合的协作任务，其中类人机器人和轮式机器人跟踪一个运动球，类人机器人将其逼近并踢入球门。结合两个机器人的能力，可以成功完成任务。

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