Towards robust mobility, flexible object manipulation, and intuitive multimodal interaction for domestic service robots

Authors:
Jörg Stückler;David Droeschel;Kathrin Gräve;Dirk Holz;Jochen Kläß;Michael Schreiber;Ricarda Steffens;Sven Behnke
Affiliations:
Rheinische Friedrich-Wilhelms-Universität Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany;Rheinische Friedrich-Wilhelms-Universität Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany;Rheinische Friedrich-Wilhelms-Universität Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany;Rheinische Friedrich-Wilhelms-Universität Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany;Rheinische Friedrich-Wilhelms-Universität Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany;Rheinische Friedrich-Wilhelms-Universität Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany;Rheinische Friedrich-Wilhelms-Universität Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany;Rheinische Friedrich-Wilhelms-Universität Bonn, Computer Science Institute VI: Autonomous Intelligent Systems, Bonn, Germany
Venue:
Robot Soccer World Cup XV
Year:
2012

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Abstract

In this paper, we detail the contributions of our team NimbRo to the RoboCup @Home league in 2011. We explain design and rationale of our domestic service robot Cosero that we used for the first time in a competition in 2011. We demonstrated novel capabilities in the league such as real-time table-top segmentation, flexible grasp planning, and real-time tracking of objects. We also describe our approaches to human-robot cooperative manipulation and 3D navigation. Finally, we report on the use of our approaches and the performance of our robots at RoboCup 2011.