Title :
Benchmarking mobile manipulation in everyday environments
Author :
Stückler, Jörg ; Behnke, Sven
Author_Institution :
Autonomous Intell. Syst., Univ. of Bonn, Bonn, Germany
Abstract :
In this paper, we discuss the RoboCup@Home league as a benchmark for service robot systems in everyday environments. The competition requires skills in mobile manipulation and human-robot interaction. Specifically, we detail the contributions of our team NimbRo, which won the RoboCup@Home competition in 2011. We demonstrated novel capabilities in the league such as real-time table-top segmentation, flexible grasp planning, real-time tracking of objects, and human-robot cooperative manipulation. We report on the experiences made with our robots at the competition.
Keywords :
human-robot interaction; manipulators; mobile robots; path planning; service robots; NimbRo team; RoboCup@Home league; flexible grasp planning; human-robot cooperative manipulation; human-robot interaction; mobile manipulation; realtime object tracking; realtime table-top segmentation; service robot system; Collision avoidance; Humans; Image color analysis; Mobile communication; Service robots; Three dimensional displays;
Conference_Titel :
Advanced Robotics and its Social Impacts (ARSO), 2012 IEEE Workshop on
Conference_Location :
Munich
Print_ISBN :
978-1-4673-0481-8
DOI :
10.1109/ARSO.2012.6213389
