Context Aware Robot Architecture, Application to the RoboCup@Home Challenge

Jumel, Fabrice; Saraydaryan, Jacques; Leber, Raphael; Matignon, Laëtitia; Lombardi, Eric; Wolf, Christian; Simonin, Olivier

doi:10.1007/978-3-030-27544-0_17

Cited by 6 publications

(5 citation statements)

References 14 publications

(27 reference statements)

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“…Regarding the issue of architecture in the RoboCup@Home domain, Jumel et al (121) proposed an architecture dedicated to the orchestration of high-level abilities for humanoid robots such as Pepper. The architecture was required to perform tasks similar to the ones proposed in the RoboCup@Home competitions.…”

Section: Human-robot Interactionmentioning

confidence: 99%

Scientific and Technological Challenges in RoboCup

Asada

Stryk

2020

Annu. Rev. Control Robot. Auton. Syst.

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Since its inception in 1997, RoboCup has developed into a truly unique and long-standing research community advancing robotics and artificial intelligence through various challenges, benchmarks, and test fields. The main purposes of this article are to evaluate the research and development achievements so far and to identify new challenges and related new research issues. Unlike other robot competitions and research conferences, RoboCup eliminates the boundaries between pure research activities and the development of full system designs with hardware and software implementations at a site open to the public. It also creates specific scientific and technological research and development challenges to be addressed. In this article, we provide an overview of RoboCup, including its league structure and related research issues. We also review recent studies across several research categories to show how participants (called RoboCuppers) address the research and development challenges before, during, and after the annual competitions. Among the diversity of research issues, we highlight two unique aspects of the challenges: the platform design of the robots and the game evaluations. Both of these aspects contribute to solving the research and development challenges of RoboCup and verifying the results from a common perspective (i.e., a more objective view). Finally, we provide concluding remarks and discuss future research directions.

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Section: Human-robot Interactionmentioning

confidence: 99%

Scientific and Technological Challenges in RoboCup

Asada

Stryk

2020

Annu. Rev. Control Robot. Auton. Syst.

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“…Pushing Experiments with Pepper In the view of a real-world implementation, we experimented with Pepper's base pushing abilities, using our existing robot architecture developed for the Robocup@Home 2018 [32]. In Fig.4a and 4b, Pepper successfully pushes a garbage bin in a straight line with little deviation.…”

Section: Social Placement Choicementioning

confidence: 99%

Towards S-NAMO: Socially-Aware Navigation Among Movable Obstacles

Renault

Saraydaryan

Simonin

2019

RoboCup 2019: Robot World Cup XXIII

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In this paper, we present an in-depth analysis of Navigation Among Movable Obstacles (NAMO) literature, notably highlighting that social acceptability remains an unadressed problem in this robotics navigation domain. The objectives of a Socially-Aware NAMO are defined and a first set of algorithmic propositions is built upon existing work. We developed a simulator allowing to test our propositions of social movability evaluation for obstacle selection, and social placement of objects with a semantic map layer. Preliminary pushing tests are done with a Pepper robot, the standard platform for the Robocup@home SSPL 1 , in the context of our participation (LyonTech Team).

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“…We optimized our previous color detection system [7] to give additional information to the People Management block. Although our color detection is still based on kmean-clustering on the H of the HSV image color, our system extracts dominant colors and associated readable names (E.g Red, Dark Blue,...).…”

Section: Color Detectionmentioning

confidence: 99%

People Management Framework Using a 2D Camera for Human-Robot Social Interactions

Saraydaryan

Leber

Jumel

2019

RoboCup 2019: Robot World Cup XXIII

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In order to perform tasks and offer socially acceptable humanrobot interactions, domestic robots need the ability to collect various information about people. In this paper, we propose a framework that allows the extraction of high-level person features from a 2D camera in addition to tracking people over time. The proposed people management framework aggregates body and person features including an original pose estimation using only a 2D camera. At this time, people pose and posture, clothing colors, face recognition are combined with tracking and re-identification abilities. This framework has been successfully used by the LyonTech team in the RoboCup@Home 2018 competition with a Pepper robot from SoftBank Robotics where its utility for domestic robot applications was demonstrated.

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Context Aware Robot Architecture, Application to the RoboCup@Home Challenge

Cited by 6 publications

References 14 publications

Scientific and Technological Challenges in RoboCup

Scientific and Technological Challenges in RoboCup

Towards S-NAMO: Socially-Aware Navigation Among Movable Obstacles

People Management Framework Using a 2D Camera for Human-Robot Social Interactions

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