Caesar - An Intelligent Domestic Service Robot

Wednesday, Feb 1, 2006

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 @Home Robot 2006

  • 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

  • Lessons Learnt (Ferrein et al., AAAI-SS 2013)
  • Object Perception (Niemueller et al., IROS-WS 2013)
  • Natural Language Interpretation (Schiffer et al., ICAART, 2012 [Best Paper Award], Schiffer et al., A&AI 2013)
  • Integrating Qualitative Reasoning and Human-Robot Interaction (Schiffer et al., JISR 2012)
  • Order Cups Demo (Schiffer et al., KI 2012)
  • Qualitative Spatial Reasoning (Schiffer et al., JINT 2011)
  • Fuzzy Representations and Control in Domestic Domains (Schiffer et al., SIMPAR 2010, Schiffer et al., ICIRA 2011)
  • Gesture Recognition (Schiffer et al., ICIRA 2011)
  • Robot Self-Maintenance (Schiffer et al., CogRob 2010; Schiffer et al., DRHE 2010)
  • Lua-based behaviour engine (Niemueller et al., RoboCup 2009)
  • Fawkes robot software framework (Niemueller et al., SIMPAR 2010)
  • Robust Collision Avoidance (Jacobs et al., RoboCup 2009)
  • Fuzzy Controller in Golog (Ferrein et al., IEEE-FUZZ 2009)
  • RoboCup@Home benchmarking methodology (Wisspeintner et al., IS 2009; Wisspeintner et al., RoboCup 2009)
  • Real-time face detection, recognition and learning (Belle et al., 2008)
  • Fuzzy set-based qualitative fluents (Ferrein et al., ICIRA 2008)
  • Robust speech recognition (Doostdar et al., RoboCup 2008 [Best Paper Award])
  • Logic-based robot control for dynamic domains (Ferrein & Lakemeyer, RAS 2008)
  • Semantic map building (Schiffer et al., PCAR 2006)