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Modeling of Digital Twin Workshop Based on Perception Data Read chapter Read first chapter

2017 | OriginalPaper | Chapter

A Robot Architecture of Hierarchical Finite State Machine for Autonomous Mobile Manipulator

Authors : Haotian Zhou, Huasong Min, Yunhan Lin, Shengnan Zhang

Published in: Intelligent Robotics and Applications

Publisher: Springer International Publishing

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Abstract

The intelligent robots have been participating in people’s work increasingly, and challenging to accomplish work autonomously with fully understand human intention through voice interaction. We proposed a robot architecture of hierarchical finite state machine (HFSM) for autonomous mobile manipulator which run on robot operating system (ROS). The system has the abilities to analyze user’s input information, communicate with user to obtain complete intention when the user’s intention is incomplete and transfer the intention to mission plan for executing of tasks. In this paper, we described the operation procedure of system and each component, and designed the experiment scenario to verify the feasibility of the proposed architecture. The experiments result showed our autonomous mobile manipulator achieve the high performance of automation of tasks.

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Metadata
Title
A Robot Architecture of Hierarchical Finite State Machine for Autonomous Mobile Manipulator
Authors
Haotian Zhou
Huasong Min
Yunhan Lin
Shengnan Zhang
Copyright Year
2017
Book
Intelligent Robotics and Applications

Print ISBN: 978-3-319-65297-9

Electronic ISBN: 978-3-319-65298-6

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-65298-6_39

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