A Lua-based Behavior Engine for Controlling the Humanoid Robot Nao

In Proc. RoboCup Symposium 2009

Authors: Tim Niemueller, Alexander Ferrein, Gerhard Lakemeyer
Type: Article in Conference Proceedings
Publication Date: July 2009
Conference: RoboCup Symposium 2009, Graz, Austria
Download: lua-behavior-engine_rc2009.pdf

Abstract: The high-level decision making process of an autonomous robot can be seen as an hierarchically organised entity, where strategical decisions are made on the topmost layer, while the bottom layer serves as driver for the hardware. In between is a layer with monitoring and reporting functionality. In this paper we propose a behaviour engine for this middle layer which, based on formalism of hybrid state machines (HSMs), bridges the gap between high-level strategic decision making and low-level actuator control. The behaviour engine has to execute and monitor behaviours and reports status information back to the higher level. To be able to call the behaviours or skills hierarchically, we extend the model of HSMs with dependencies and sub-skills. These Skill-HSMs are implemented in the lightweight but expressive Lua scripting language which is well-suited to implement the behaviour engine on our target platform, the humanoid robot Nao.

BibTeX
@InProceedings{rc2009-lua-behavior-engine-2009,
  title =	{{A Lua-based Behavior Engine for Controlling the Humanoid Robot Nao}},
  author =	{Tim Niemueller and Alexander Ferrein and Gerhard Lakemeyer},
  booktitle =	{Proc. of RoboCup Symposium 2009},
  address =	{Graz, Austria},
  year =	{2009},
}