Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots

Stückler, Jörg; Droeschel, David; Gräve, Kathrin; Holz, Dirk; Kläß, Jochen; Schreiber, Michael; Steffens, Ricarda; Behnke, Sven

doi:10.1007/978-3-642-32060-6_5

Cited by 8 publications

(6 citation statements)

References 14 publications

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“…In this context, some competitions including real-world human-robot interaction must be effective for facilitating researchers to study embodied cognitive systems and emergent symbol systems, and for evaluate appropriateness of the developed systems. RoboCup@Home is an obvious candidate [162][163][164][165].…”

Section: Discussionmentioning

confidence: 99%

Symbol Emergence in Robotics: A Survey

Taniguchi

Nagai

Nagaoka

et al. 2015

Preprint

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Humans can learn the use of language through physical interaction with their environment and semiotic communication with other people. It is very important to obtain a computational understanding of how humans can form a symbol system and obtain semiotic skills through their autonomous mental development. Recently, many studies have been conducted on the construction of robotic systems and machine-learning methods that can learn the use of language through embodied multimodal interaction with their environment and other systems. Understanding human social interactions and developing a robot that can smoothly communicate with human users in the long term, requires an understanding of the dynamics of symbol systems and is crucially important. The embodied cognition and social interaction of participants gradually change a symbol system in a constructive manner. In this paper, we introduce a field of research called symbol emergence in robotics (SER). SER is a constructive approach towards an emergent symbol system. The emergent symbol system is socially selforganized through both semiotic communications and physical interactions with autonomous cognitive developmental agents, i.e., humans and developmental robots. Specifically, we describe some state-ofart research topics concerning SER, e.g., multimodal categorization, word discovery, and a double articulation analysis, that enable a robot to obtain words and their embodied meanings from raw sensory-motor information, including visual information, haptic information, auditory information, and acoustic speech signals, in a totally unsupervised manner. Finally, we suggest future directions of research in SER.

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Section: Discussionmentioning

confidence: 99%

Symbol Emergence in Robotics: A Survey

Taniguchi

Nagai

Nagaoka

et al. 2015

Preprint

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“…Among others, they successfully demonstrated real-time 3D object recognition and tracking for physical human-robot-interaction [50], tool use [51], and recently non-rigid object recognition and tracking for skill transfers [51].…”

Section: Object Recognitionmentioning

confidence: 99%

“…Some teams report using a combination of grasp/motion planning and parameterized motion primitives for particular manipulation tasks [51,58], allowing for complex grasping in complex scenes. For the control of arm and body motions, an approach has been successfully demonstrated that is compliant in task space [50]. It enables many important robot capabilities, such as opening refrigerators, cupboards and drawers or cooperatively carrying a table with a human.…”

Section: Object Manipulationmentioning

confidence: 99%

RoboCup@Home: Analysis and results of evolving competitions for domestic and service robots

Iocchi

Holz

Ruiz‐del‐Solar

et al. 2015

Artificial Intelligence

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Please cite this article in press as: L. Iocchi et al., ROBOCUP@HOME: Analysis and results of evolving competitions for domestic and service robots, Artificial Intelligence (2015), http://dx. AbstractScientific competitions are becoming more common in many research areas of artificial intelligence and robotics, since they provide a shared testbed for comparing different solutions and enable the exchange of research results. Moreover, they are interesting for general audiences and industries. Currently, many major research areas in artificial intelligence and robotics are organizing multiple-year competitions that are typically associated with scientific conferences.One important aspect of such competitions is that they are organized for many years. This introduces a temporal evolution that is interesting to analyze. However, the problem of evaluating a competition over many years remains unaddressed. We believe that this issue is critical to properly fuel changes over the years and measure the results of these decisions. Therefore, this article focuses on the analysis and the results of evolving competitions.In this article, we present the RoboCup@Home competition, which is the largest worldwide competition for domestic service robots, and evaluate its progress over the past seven years. We show how the definition of a proper scoring system allows for desired functionalities to be related to tasks and how the resulting analysis fuels subsequent changes to achieve general and robust solutions implemented by the teams. Our results show not only the steadily increasing complexity of the tasks that RoboCup@Home robots can solve but also the increased performance for all of the functionalities addressed in the competition.We believe that the methodology used in RoboCup@Home for evaluating competition advances and for stimulating changes can be applied and extended to other robotic competitions as well as to multi-year research projects involving Artificial Intelligence and Robotics.

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“…Some works, e.g., [8] and [9], have explored planning in 3D representations of environment maps leading to much robust navigation that could inherently account for the robot's full height and complete traversability in the environment.…”

Section: Related Workmentioning

confidence: 99%

Towards Optimal Robot Navigation in Domestic Spaces

Ventura

Ahmad

2015

RoboCup 2014: Robot World Cup XVIII

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The work presented in this paper is motivated by the goal of dependable autonomous navigation of mobile robots. This goal is a fundamental requirement for having autonomous robots in spaces such as domestic spaces and public establishments, left unattended by technical staff. In this paper we tackle this problem by taking an optimization approach: on one hand, we use a Fast Marching Approach for path planning, resulting in optimal paths in the absence of unmapped obstacles, and on the other hand we use a Dynamic Window Approach for guidance. To the best of our knowledge, the combination of these two methods is novel. We evaluate the approach on a real mobile robot, capable of moving at high speed. The evaluation makes use of an external ground truth system. We report controlled experiments that we performed, including the presence of people moving randomly nearby the robot. In our long term experiments we report a total distance of 18 km traveled during 11 hours of movement time.

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Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots

Cited by 8 publications

References 14 publications

Symbol Emergence in Robotics: A Survey

Symbol Emergence in Robotics: A Survey

RoboCup@Home: Analysis and results of evolving competitions for domestic and service robots

Towards Optimal Robot Navigation in Domestic Spaces

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