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--- lirec_notes [2009-01-06 16:10] – 81.188.78.24
+++ lirec_notes [2020-06-05 22:11] – old revision restored (2009-01-08 10:33) 114.119.160.215
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 ==Methodology==
-In the past there have been 2 broad approaches to robot design:
+In the past there have been 2 broad approaches to [[robot design]]:
   * Hierarchical, model based planning = expensive/difficult to maintain an accurate world state model
   * Behavioural approach = less state, local decisions, but liable to local minima and opaque to program
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 Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all platforms, and different implementations of the same competency will be needed for different platforms.
-Example competencies:
+Competencies table
-  * Face finding
+^ Actuation ^^^^ Sensing ^^^^^^
-  * Expression recognition
+| **Speech/Sound** | **Visual** | **Movement** | **Object Manipulation** | **Identification** | **Vision** | **Sounds** | **Positioning** | **Distance** | **Internal State** |
-  * Text to speech
+| Text to speech | Gesture execution | Move limb | Grasp/Place object | User recognition | Face detection | Speech recogn | Localization | Obstacle avoidance | Battery status |
-  * Obstacle avoidance
+| Non-verbal sounds | Lip sync | Follow person | | Obj recognition | Gesture recognition (simple set) | Non-verbal sounds | Locate person | Locate obj | Competence execution monitoring |
+| | Facial expression | Path planning | | | Emotion recognition (simple set) | | | User proximic distance sensing/control | |
+| | | Gaze/head movement | | | Body tracking | | | | |
+| | | Expressive behaviour | | | | | | | |
 The computer vision competencies are to be concentrated on at first.