Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

Stückler, Jörg; Schwarz, Max; Behnke, Sven

doi:10.3389/frobt.2016.00058

Cited by 29 publications

(17 citation statements)

References 38 publications

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“…Nevertheless, there are several open research questions that need to be addressed before this work can be deployed in a real setting. Thus, FGS is the first step within a larger pipeline, and we envision this work to be complementary to existing frameworks that are aimed at resilient and creative task execution, such as Antunes et al ( 2016 ) and Stückler et al ( 2016 ). In summary, FGS presents a promising direction for dealing with tool-based problems in the area of creative problem solving.…”

Section: Discussionmentioning

confidence: 99%

Feature Guided Search for Creative Problem Solving Through Tool Construction

Nair

Chernova

2020

Front. Robot. AI

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Robots in the real world should be able to adapt to unforeseen circumstances. Particularly in the context of tool use, robots may not have access to the tools they need for completing a task. In this paper, we focus on the problem of tool construction in the context of task planning. We seek to enable robots to construct replacements for missing tools using available objects, in order to complete the given task. We introduce the Feature Guided Search (FGS) algorithm that enables the application of existing heuristic search approaches in the context of task planning, to perform tool construction efficiently. FGS accounts for physical attributes of objects (e.g., shape, material) during the search for a valid task plan. Our results demonstrate that FGS significantly reduces the search effort over standard heuristic search approaches by ≈93% for tool construction.

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Section: Discussionmentioning

confidence: 99%

Feature Guided Search for Creative Problem Solving Through Tool Construction

Nair

Chernova

2020

Front. Robot. AI

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“…In recent years, there has been increasing interest in mobile manipulators that are capable of performing physical work in home environments. Several research groups have developed their own mobile manipulators, for example [8][9][10][11]. Also, there have been several attempts to build commercially available robot platforms designed for mobile manipulation research [12][13][14][15][16].…”

Section: Related Workmentioning

confidence: 99%

“…The following equations are derived by differentiating (9). By substituting (6), (9), (10), (11), the constraints (7) and (8) could be parametrized by s as follows: where s min (s,ṡ) , s max (s,ṡ) is the minimum and maximum acceleration of s calculated by s and ṡ.…”

Section: Motion Execution Time Optimal Path Parameterizationmentioning

confidence: 99%

Development of Human Support Robot as the research platform of a domestic mobile manipulator

Yamamoto

Terada

Ochiai³

et al. 2019

Robomech J

192

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There has been an increasing interest in mobile manipulators that are capable of performing physical work in living spaces worldwide, corresponding to an aging population with declining birth rates with the expectation of improving quality of life (QoL). We assume that overall research and development will accelerate by using a common robot platform among a lot of researchers since that enables them to share their research results. Therefore we have developed a compact and safe research platform, Human Support Robot (HSR), which can be operated in an actual home environment and we have provided it to various research institutes to establish the developers community. Currently, the number of HSR users is expanding to 44 sites in 12 countries worldwide (as of November 30th, 2018). To activate the community, we assume that the robot competition will be effective. As a result of international public offering, HSR has been adopted as a standard platform for international robot competitions such as RoboCup@Home and World Robot Summit (WRS). HSR is provided to participants of those competitions. In this paper, we describe HSR's development background since 2006, and technical detail of hardware design and software architecture. Specifically, we describe its omnidirectional mobile base using the dual-wheel caster-drive mechanism, which is the basis of HSR's operational movement and a novel whole body motion control system. Finally, we describe the verification of autonomous task capability and the results of utilization in RoboCup@Home in order to demonstrate the effect of introducing the platform.

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“…In our experience, an omnidirectional base offers two advantages in a mobile manipulation scenario: It allows the robot to position its base very precisely and does not need complicated maneuvering for small adjustments. For these reasons, we incorporated omnidirectional bases into most of our previous mobile manipulation robots (Stückler, Schwarz, & Behnke, ; Schwarz et al, ). An additional advantage in this particular setting is that Mario is able to circle the valve panel while facing it—allowing for very precise tracking of the panel during the approach.…”

Section: Mechanical Designmentioning

confidence: 99%

Team NimbRo at MBZIRC 2017: Autonomous valve stem turning using a wrench

Schwarz

Droeschel

Lenz

et al. 2018

Journal of Field Robotics

Self Cite

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The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2017 has defined ambitious new benchmarks to advance the state‐of‐the‐art in autonomous operation of ground‐based and flying robots. In this study, we describe our winning entry to MBZIRC Challenge 2: the mobile manipulation robot Mario. It is capable of autonomously solving a valve manipulation task using a wrench tool detected, grasped, and finally used to turn a valve stem. Mario’s omnidirectional base allows both fast locomotion and precise close approach to the manipulation panel. We describe an efficient detector for medium‐sized objects in three‐dimensional laser scans and apply it to detect the manipulation panel. An object detection architecture based on deep neural networks is used to find and select the correct tool from grayscale images. Parametrized motion primitives are adapted online to percepts of the tool and valve stem to turn the stem. We report in detail on our winning performance at the challenge and discuss lessons learned.

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Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero

Cited by 29 publications

References 38 publications

Feature Guided Search for Creative Problem Solving Through Tool Construction

Feature Guided Search for Creative Problem Solving Through Tool Construction

Development of Human Support Robot as the research platform of a domestic mobile manipulator

Team NimbRo at MBZIRC 2017: Autonomous valve stem turning using a wrench

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