Behavior Execution Method for a Robot Using an Online Development Approach

摘要

This paper introduces a method that applies the behavior execution of a robot to a dynamic environment using an online development approach and demonstrates an approach to improve the convenience of development and overcome the memory limit by moving a key processing unit from the robot to a server. To direct the robot to perform tasks, the server uses image data from 2D cameras. All these tasks are executed in a closed space where the robot can move around. The robot executes tasks through transfer control protocol/internet protocol (TCP/IP) communication with the main server which plays an important role in managing and controlling the motions of the robot and reconstructing the tasks if required. This paper emphasizes on the behavior execution method for a robot by processing images acquired inside a closed space by 2D cameras. In this work the humanoid robot "Nao" was used.