MIRIS

The basic objective of the method task within the MIRIS network is to develop a biologically motivated architectural concept for an adaptive, consistently action-oriented "vision system". Such a senso-motor system, consisting of an intelligent scene observer and an actively verifying gripper, is to be tailored to the specifics of visually guided sorting and service robots, applicable to various sorting problems and scalable.

In this system, seeing is not primarily a passive sensory expression, but an integral part of goal-directed action, and is inseparably linked to the action and the resulting sensory consequences within the framework of a perception-action cycle. The system receives goal-directed attention through the best possible fulfilment of subgoals that implicitly describe the task to be performed.

The sorting of non-separated waste paper in complex access situations (MIKADO problem) has been chosen as a use case for the "demonstrator for sorting recyclable special waste" to be developed. The architecture concept is to be expanded in the subsequent phases to a universal, on-site interactively configurable and adaptive real-time sorting system with variable (problem-specific) sensors / actuators.