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KI - Künstliche Intelligenz
Erschienen in: KI - Künstliche Intelligenz 4/2019

16.09.2019 | Technical Contribution

SocRob@Home

Integrating AI Components in a Domestic Robot System

verfasst von: Pedro U. Lima, Carlos Azevedo, Emilia Brzozowska, João Cartucho, Tiago J. Dias, João Gonçalves, Mithun Kinarullathil, Guilherme Lawless, Oscar Lima, Rute Luz, Pedro Miraldo, Enrico Piazza, Miguel Silva, Tiago Veiga, Rodrigo Ventura

Erschienen in: KI - Künstliche Intelligenz | Ausgabe 4/2019

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Abstract

This paper describes the SocRob@Home robot system, consisting of a mobile robot (MBOT) equipped with several sensors and actuators, including a manipulator arm, and several software modules that provide the skills and capability to perform domestic tasks while interacting with humans in a domestic environment. We describe the whole system holistically, explaining how it integrates the contributing modules, and then we focus on the most relevant sub-systems, pointing out the original contributions of our research and development on the system in the last 5 years. The robot system includes metric and semantic mapping, several navigation modes (way-point navigation, person following and multi-sensor obstacle detection and avoidance), vision-based object detection, recognition, servoing and grasping, speech understanding, task planning and task execution. The robot system is mostly activated by speech commands from a human, and these commands, after being interpreted, are executed by the robot sub-systems, coordinated by a task executor. Lessons learned during the development and use of this system, which are useful as guidelines for the development of similar robot systems, are provided. MBOT’s performance is assessed using the task benchmarks scoring system of the European Robotics League competitions on Consumer Service robots.
Vorheriger Artikel Towards a Theory of Explanations for Human–Robot Collaboration
Nächster Artikel Benchmarking Functionalities of Domestic Service Robots Through Scientific Competitions

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11
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Metadaten
Titel
SocRob@Home
Integrating AI Components in a Domestic Robot System
verfasst von
Pedro U. Lima
Carlos Azevedo
Emilia Brzozowska
João Cartucho
Tiago J. Dias
João Gonçalves
Mithun Kinarullathil
Guilherme Lawless
Oscar Lima
Rute Luz
Pedro Miraldo
Enrico Piazza
Miguel Silva
Tiago Veiga
Rodrigo Ventura
Publikationsdatum
16.09.2019
Verlag
Springer Berlin Heidelberg
Erschienen in
KI - Künstliche Intelligenz / Ausgabe 4/2019
Print ISSN: 0933-1875
Elektronische ISSN: 1610-1987
DOI
https://doi.org/10.1007/s13218-019-00618-w

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