A Concurrent Autonomous Agent for the Jaco Kinova Robotic Manipulator

• Edi Moreira M. de Araujo UFBA
• Augusto Loureiro da Costa UFBA

DOI: https://doi.org/10.5753/wesaac.2018.33267

Abstract

This work presents the use of the Concurrent Autonomous Agent (CAA) in an JACO Kinova robot arm, enabling it to perform complex tasks in a completely autonomous way. The communication between the CAA and the manipulator will be made through the ROS (Robot Operating System), as well as the performance of the behaviors present in the reactive level. The Concurrent Autonomous Agent is an implementation of a cognitive agent architecture based on the Generic Cognitive Model for Autonomous Agents. This model over the years proved to be very effective, initially being used for the implementation of a distributed control system for multi-robot systems, called Mecateam, obtaining significant results in RoboCup’s Latin America and Brazilians. The CAA has already been implemented in several successful applications, such as the NAO humanoid robot and the AxeBot omnidirectional robot. These results point to CAA as a model of well-known cognition for the training of robots to perform tasks that require a certain degree of cognition.

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