Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo

被引：0

作者：

Lee, Moonyoung ^{[1
]}

Heo, Yujin ^{[1
]}

Park, Jinyong ^{[1
]}

Yang, Hyun-Dae ^{[1
]}

Jang, Ho-Deok ^{[2
]}

Benz, Philipp ^{[2
]}

Park, Hyunsub ^{[1
]}

Kweon, In So ^{[2
]}

Oh, Jun-Ho ^{[1
]}

机构：

[1] Korea Adv Inst Sci & Technol, Humanoid Robot Res Ctr, Dept Mech Engn, 291 Daehak Ro, Daejeon 34141, South Korea

[2] Korea Adv Inst Sci & Technol, Dept Elect Engn, Robot & Comp Vis Lab, 291 Daehak Ro, Daejeon 34141, South Korea

来源：

2019 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2019年

关键词：

D O I：

10.1109/iros40897.2019.8968064

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories. This becomes a challenging and computationally complex problem when the environment is unknown and thus the path planner must sample numerous trajectories that often are sub-optimal, extending the execution time. To address this issue, we propose a unique strategy of integrating a 3D object detection pipeline with a kinematically optimal manipulation planner to significantly increase speed performance at run-time. In addition, we develop a new robotic butler system for a wheeled humanoid that is capable of fetching requested objects at 24% of the speed a human needs to fulfill the same task. The proposed system was evaluated and demonstrated in a real-world environment setup as well as in public exhibition.

引用

页码：5444 / 5451

页数：8