An Experience-Based Interface for Abstracting the Motion Control of Kinematically Complex Robots
Alexander Dettmann, Sebastian Bartsch, Frank Kirchner
series DFKI Documents, volume 15-03, Sep/2015. DFKI GmbH, Universität Bremen.
In order to provide higher mobility and to assist humans in building up infrastructure in future extraterrestrial
space missions, kinematically complex robots are needed. One key challenge which needs to be addressed is
to handle their complex motion control and to make use of their high potential. Utilizing the possibility to
achieve various actions even in different ways by tuning manually numerous parameters of the motion control
can be very demanding and even unmanageable when also taking communication delay into account.
Thus, the proposed experience-based interface is encapsulating the motion control of complex robots by
autonomously mapping application-specific action parameters to robot-specific motion control parameters
depending on the current context. Therefore, the robot is using experiences collected from previously executed
behaviors. Apart from acquiring experiences during operation of the real robot, they can also be collected in
simulation. The possibility to test in low gravity environments makes the latter a valuable tool for increasing
the robot’s knowledge base for space missions.
The experiments in this paper show that reconfiguring the motion control can be beneficial and that in
simulation optimized behaviors can easily be integrated in the experience-based control interface to improve
the performance of a robot. In addition, the transferability from simulation to the real system is shown.
Please note, that the corresponding paper is published in:
An experience-based interface for abstracting the motion control of kinematically complex robots; A. Dettmann,
S. Bartsch, and F. Kirchner; In Proceedings of ASTRA 2015.