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On Recognizing Transparent Objects in Domestic Environments Using Fusion of Multiple Sensor Modalities Read chapter Read first chapter

2017 | OriginalPaper | Chapter

ToBI – Team of Bielefeld: Enhancing Robot Behaviors and the Role of Multi-robotics in RoboCup@Home

Authors : Sebastian Meyer zu Borgsen, Timo Korthals, Florian Lier, Sven Wachsmuth

Published in: RoboCup 2016: Robot World Cup XX

Publisher: Springer International Publishing

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Abstract

In this paper, we describe the joint effort of the Team of Bielefeld (ToBI) which won the RoboCup@Home competition in Leipzig 2016. RoboCup@Home consists of a defined set of benchmarking tests that cover multiple skills needed by service robots. We present the robotic platforms, technical contributions, and lessons learned from previous events that led to the final success this year. This includes a framework for behavior modeling and communication employed on two human-sized robots Floka and Biron as well as on the small robotic device AMiRo. These were used for a multi-robot collaboration scenario in the Finals. We describe our main contributions in automated testing, error handling, memorization and reporting, robot-robot coordination, and flexible grasping that considers object shape.

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Footnotes
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Metadata
Title
ToBI – Team of Bielefeld: Enhancing Robot Behaviors and the Role of Multi-robotics in RoboCup@Home
Authors
Sebastian Meyer zu Borgsen
Timo Korthals
Florian Lier
Sven Wachsmuth
Copyright Year
2017
Book
RoboCup 2016: Robot World Cup XX

Print ISBN: 978-3-319-68791-9

Electronic ISBN: 978-3-319-68792-6

Copyright Year: 2017

DOI
https://doi.org/10.1007/978-3-319-68792-6_48

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