The framework for software development from CROPS will be utilized to implement the high-level control of the robot. A flowchart describing the high-level functionality of the robot (DLO) will be translated to a state diagram and implemented as a state-machine that administrates the top-level logical flow of control in the robot (UMU). This work package will also be in charge of development of software for intermediate-level control of the manipulator, including basic path planning and obstacle avoidance Motion towards fruit will be guided by sensory (and in particular, visual) feedback from gripper-mounted sensors.  Furthermore, a simple system for mobility control of the robot platform will be developed, including obstacle avoidance.

Workpackage leader

UMEA University – UMU (SE)