Abstract
We present an autonomous waiter robot control system based on the reactive layer of the Distributed Adaptive Control (DAC) architecture. The waiterbot has to explore the space where catering is set and invite the guests to serve themselves with chocolate or candies. The control model is taking advantage of DAC’s allostatic control system that allows the selection of actions through the modulation of drive states. In the robot´s control system two independent behavioral loops are implemented serving specific goals: a navigation system to explore the space and a gazing behavior that invites human users to serve themselves. By approaching and gazing at a potential consumer the robot performs its serving behavior. The system was tested in a simulated environment and during a public event where it successfully delivered its wares. From the observed interactions the effect of drive based self-regulated action in living machines is discussed.
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Rennó-Costa, C., Luvizotto, A., Betella, A., Sánchez-Fibla, M., Verschure, P.F.M.J. (2012). Internal Drive Regulation of Sensorimotor Reflexes in the Control of a Catering Assistant Autonomous Robot. In: Prescott, T.J., Lepora, N.F., Mura, A., Verschure, P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2012. Lecture Notes in Computer Science(), vol 7375. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-31525-1_21
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DOI: https://doi.org/10.1007/978-3-642-31525-1_21
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