A Learning Method for a Daily Assistive Robot for Opening and Closing Doors Based on Simple Instructions

Nagahama, Kotaro; Takeshita, Keisuke; Yaguchi, Hiroaki; Yamazaki, Kimitoshi; Yamamoto, Takashi; Inaba, Masayuki

doi:10.1109/coase.2018.8560411

Cited by 7 publications

(3 citation statements)

References 16 publications

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“…Other applications using service robots include object manipulation; for example, in [4] a robot starts their motion planing system using previous experience in consistent situations. Similarly, in [5] and [6], the authors present a system where a service robot is able to manipulate unknown doors by receiving a single users instruction. Although those system presented high performance, the limitation of the application and the necessity of user feedback make them hard to extend those systems to general purpose service robots.…”

Section: Related Workmentioning

confidence: 99%

sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

Contreras¹,

Matsusaka²,

Yamamoto³

et al. 2021

Preprint

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Although the skills required to solve isolated robotics problems are reaching amazing performances recently, we propose the evaluation of such individual solutions in fully integrated robot systems tested in real daily situations like those presented at international robotics competitions. The simulation Domestic Standard Platform League (sDSPL), which utilizes the HSR simulator developed for the World Robot Summit, surges from the necessity to standardise and spread the research on Domestic Service Robots where a series of solutions can be tested to solve a general-purpose task in a standard domestic environment; this approach has been proven successful at several international competitions, namely, the RoboCup Japan Open, the Mexican Tournament of Robotics, and the RoboCup 2021.<div><br></div><div>**This work was accepted to The 39th Annual Conference of the Robotics Society of Japan.<br></div>

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Section: Related Workmentioning

confidence: 99%

sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

Contreras¹,

Matsusaka²,

Yamamoto³

et al. 2021

Preprint

Self Cite

View full text Add to dashboard Cite

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“…HSR has been widely used as a standard platform in robotic competitions such as the Domestic Standard Platform League in the RoboCup@Home and the Partner Robot Challenge in the World Robot Summit [1]. In addition, HSR has been used in research institutes to investigate the feasibility of the use of such a robotic platform on various tasks such as motion learning for household service tasks [7,8], door opening of various types of drawers and shelves [9,10], cloth manipulation [11], human-robot interaction [12,13], person following [14], adaptive operation of CONTACT Jun Nakanishi jnakanis@meijo-u.ac.jp Supplemental data for this article can be accessed here. https://doi.org/10.1080/01691864.2020.1813623…”

Section: Introductionmentioning

confidence: 99%

Towards the development of an intuitive teleoperation system for human support robot using a VR device

et al. 2020

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This paper presents our development of an intuitive teleoperation system for Toyota's Human Support Robot. While this robot has been widely used as an autonomous agent in the field of service robotics, we explore a possibility of this robot for the use of remote assistance of daily activities in home environments. For rapid prototyping an affordable teleoperation system, we adopt a commercially available VR device as a user interface and develop a Robot Operating System (ROS)-based control framework building on the software application programming interfaces (APIs). In particular, we implement a singularity robust inverse kinematics algorithm to achieve a coordinated wholebody motion of the robot for safe and intuitive operation. We empirically evaluate the practical feasibility of the proposed teleoperation system through various test tasks. We discuss the potential and limitations of the current development for its future improvement.

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“…Robots that must open doors are, for example, robotic wheelchairs that help handicapped people to move in different environments [1,2,3]. Other assistive robots open closets or cupboard doors, or help humans with their daily routines at home [4]. Rescue robots also require the ability to open doors.…”

Section: Introductionmentioning

confidence: 99%

Passing through Open/Closed Doors: A Solution for 3D Scanning Robots

Prieto

Adán

Vázquez

et al. 2019

Sensors

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In this article, a traversing door methodology for building scanning mobile platforms is proposed. The problem of passing through open/closed doors entails several actions that can be implemented by processing 3D information provided by dense 3D laser scanners. Our robotized platform, denominated as MoPAD (Mobile Platform for Autonomous Digitization), has been designed to collect dense 3D data and generate basic architectural models of the interiors of buildings. Moreover, the system identifies the doors of the room, recognises their respective states (open, closed or semi-closed) and completes the aforementioned 3D model, which is later integrated into the robot global planning system. This document is mainly focused on describing how the robot navigates towards the exit door and passes to a contiguous room. The steps of approaching, door-handle recognition/positioning and handle–robot arm interaction (in the case of a closed door) are shown in detail. This approach has been tested using our MoPAD platform on the floors of buildings composed of several rooms in the case of open doors. For closed doors, the solution has been formulated, modeled and successfully tested in the Gazebo robot simulation tool by using a 4DOF robot arm on board MoPAD. The excellent results yielded in both cases lead us to believe that our solution could be implemented/adapted to other platforms and robot arms.

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A Learning Method for a Daily Assistive Robot for Opening and Closing Doors Based on Simple Instructions

Cited by 7 publications

References 16 publications

sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

sDSPL - Towards a benchmark for general-purpose task evaluation in domestic service robots

Towards the development of an intuitive teleoperation system for human support robot using a VR device

Passing through Open/Closed Doors: A Solution for 3D Scanning Robots

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