Caesar - An Intelligent Domestic Service Robot

Submitted by stf on 1. February 2006 - 14:37

The Knowledge-Based Systems Group covers research in the areas of Artificial Intelligence (AI), Knowledge Representation and Reasoning (KR+R), and Cognitive Robotics.
An application domain in this regard is domestic service robotics. The robot platform that we use for research in this domain is Caesar.

Robot Platform

AllemaniACs @Home Robot 2006
AllemaniACs RoboCup@Home Robot 2011

RGB-D Sensor
two short-distance
laser range finder
loud speaker

touch screen

5-DOF antropomorphic arm

two Core2Duo PCs

360 degree long distance
laser range finder

3kW wheel chair motors


Caesar is used for research in AI, KR+R and Cognitive Robotics. Individual topics covered are as follows:

  • Robot Base & Middleware
    • Robust Collision Avoidance in Unknown Environments
    • Fawkes Robot Software Framework
    • Lua-based Behaviour Engine
  • Human-Robot Interaction
    • Real-time One-step Face Detection, Recognition and Learning
    • Robust Speaker Independent Speech Recognition
    • Modular Gesture Recognition
    • Flexible Natural Language Interpretation
  • Representation and Reasoning
    • Seamless Integration of Human-like Notions
    • Human-like Notions Control Constructs
    • Logic-based High-level Control
    • Qualitative Spatial Reasoning
  • Assistive Service Robotics
    • Integration of Human-Robot Interaction and Qualitative Reasoning for Assistive Service Robotics in Home-like Environments
  • Benchmarking Methodology
    • RoboCup@Home as a Benchmark for Assistive Service Robotics Technology


AllemaniACs' participation in RoboCup@Home

Selected Publications