A Demonstrative Research for Daily Assistive Robots on Tasks of Cleaning and Tidying up Rooms

This paper describes a demonstrative research of daily assistive robots. Several tasks related to cleaning and tidying up rooms are focused on, a real robot performs these tasks. A software system combining environment recognition with motion generation provides functions of finding failures and planning retry behaviors, the robot can do the given tasks with recovering the failures in some cases. This enables the robot to perform several daily tasks with handling tools and furniture.

[1]  Tamim Asfour,et al.  ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[2]  Lars Petersson,et al.  Systems integration for real-world manipulation tasks , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[3]  Masayuki Inaba,et al.  Vision based behavior verification system of humanoid robot for daily environment tasks , 2006, 2006 6th IEEE-RAS International Conference on Humanoid Robots.

[4]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[5]  Kimitoshi Yamazaki,et al.  Pose Planning for a Mobile Manipulator Based on Joint Motions for Posture Adjustment to End-Effector Error , 2008, Adv. Robotics.

[6]  Rajiv V. Dubey,et al.  A weighted least-norm solution based scheme for avoiding joint limits for redundant manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[7]  Yoshihiko Nakamura,et al.  Inverse kinematic solutions with singularity robustness for robot manipulator control , 1986 .

[8]  K. Okada,et al.  Autonomous mapping and navigation system in rooms and corridors for indoor support robots , 2008, 2008 IEEE International Conference on Mechatronics and Automation.

[9]  Evangelos E. Milios,et al.  Globally Consistent Range Scan Alignment for Environment Mapping , 1997, Auton. Robots.

[10]  Jun Ota,et al.  Handling of objects with marks by a robot , 2003, Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453).

[11]  K. Yokoi,et al.  Operating Humanoid Robots in Human Environments , 2006 .

[12]  Kimitoshi Yamazaki,et al.  A Cloth Detection Method Based on Image Wrinkle Feature for Daily Assistive Robots , 2009, MVA.

[13]  S. Yuta,et al.  Control of vehicle with power wheeled steering using feedforward dynamics compensation , 1991, Proceedings IECON '91: 1991 International Conference on Industrial Electronics, Control and Instrumentation.