Performing skilled work with an interactively operated service robot

Abstract

In the paper we consider skilled tasks that are performed by a human-like robot in outdoor unstructured environment when working interactively with a human operator. As skilled tasks we understand tasks, which - like when humans perform them - are non-trivial and demand learning or training. Typically such tasks may also fail and require several trials to be successfully executed. Performing requires use of senses and development of a unique miniplan, which takes into account the present situation. The mini-plan, which may also be called "skill", produces a sequence of unit operations needed for successful performing of the task. The paper discusses preliminary experiences on implementing and experimenting such skilled tasks with a mobile centaur-like service robot. © Springer-Verlag Berlin Heidelberg 2006.