Behavior-based system architecture:

  • Situation-dependent selection and concatenation of behavior patterns
  • "Situation" comprises the states of relevant objects, the state and goal of the robot, and its behavior repertoire


  • 1-dof camera platform
  • 3 wheels (one steered and driven, two passive)
  • Addition in 2002: 7-DoF articulated arm with 2-finger Gripper


  • Video camera
  • Odometry
  • Addition in 2003: Stereo vision system, Tactile sensors in the gripper

Knowledge representation:

  • Attributed topological map
  • Mission description


  • By reference to objects in the environment
  • No reference to coordinates>
  • User-friendly due to the robot's situatedness and learning ability


  • Task-related navigation
  • Map-building by supervised learning
  • User-friendly communication and easy introduction of the robot into a new environment; both as a result of the situation-orientierted behavior-based system architecture