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Opel Exposition Robots
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Between October 2003 and October 2004 two exposition robots were installed at Opel in Berlin to entertain and give information to the visitors of this car exposition. The robots ran every day during regular opening hours.
After the successful installation of three museum robots in March 2000, this is already the second installation of interactive entertainment robots in a public building in Berlin.
Character and Task of the Robots
MONA ("Multifunktionale Opel Navigatorin) is the female navigator. She has a quiet character. Only every now and then, she cannot suppress her enthusiasm for the Opel brand or the exposition. Mona operates mainly in the operation mode "Guidance to the Exposition Area". Most of the time she welcomes the visitors at the entrance and guides them to the exposition area. In case none of the visitors wants to follow the robot, the guided tour will be aborted. Once arrived at the exposition area, the robot says goodbye to the visitors and moves on. If the robot's way is blocked by other visitors, she will ask them to step aside and try to find a way around them.
OSKAR ("Opel Systemkreation aus Rüsselsheim") is the male robot. He can get very emotional and loves to entertain the visitors. Oskar represents the emotional side of the Opel brand. Oskar operates mainly in the operation mode "Animation". He drives around in the exposition area along the main display window. During the animation the touch screen of the robot is activated. If a visitor is detected close to the robot, he will be asked to touch its screen. On the touch screen, current information on the exposition and the company Opel can be downloaded. The current operation mode of each robot is chosen randomly, therefore each robot executes both operation modes. In case both robots are in the same mode and get close, they will start short interaction (joint welcome of visitors or conversation). Technical SpecificationsThe mobile platforms are equipped with two motorized wheels (differential drives) and three castors. They drive at a velocity of up to 0,4 m/s. The robots have been built for constant and uninterrupted operation in the exposition. Eight 12V-batteries enable an average operation time of more than ten hours. The control software is running on an industrial PC and is programmed in C++ and Python. The 2D laser scanners at the front and rear of the robots are similar to eyes of the mobile platforms. Based on the information provided by the laser scanners, the robots perceive their environment, localize themselves and plan their path. An environmental map was taught to the robots during installation. This environmental map can be compared with the information provided by the laser scanner and the current position of the robot be specified. For optimal matching, a method based on landmarks and multiple hypotheses is used. Also based on the environmental map, the robot is able to compute an optimal collision free path from its current to a target position. Dynamic obstacles such as visitors are detected by the laser scanner and the path is modified in order lead the robot around these people at an adequate distance. For path planning, an algorithm based on potential fields is used, the dynamic obstacle avoidance is implemented by the method of elastic bands. The visitors are also detected with the laser scanner. From the data provided by the laser scanner, the characteristic shapes and diameters of a person's legs and the distances between them are assessed using fuzzy logic. When addressing visitors, single people are distinguished from groups. Safety Sensors and DiagnosisThe robots are equipped with several independent safety systems. Apart from the laser scanner based obstacle avoidance, each robot is equipped with eight sonar sensors, that cover the area above the laser scanner. Additionally, both robots are surrounded by a rubber bumber. If a contact with the bumper is detected, the robot stops immediately. The operation area of the robots is restrained by software. Furthermore, magnetic bands are lowered in the ground in critical positions (e.g. the main entrance). When driving over these bands, two independent magnetic sensor are set off that activate an immediate emergency stop. Each robot is additionally equipped with two emergency stop buttons. All relevant regulations for such systems have therefore been maintained. The robots are equipped with components for self diagnosis and automatic startup and shutdown capabilities and can therefore be operated even by untrained personnel. Using radio and internet connections, a detailed remote diagnosis of the robots is further possible, so that potential problems can be solved immediately. 
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