Towards Autonomous Robotic Butlers: Lessons Learned with the PR2
As autonomous personal robots come of age, we expect certain applications to be executed with a high degree of repeatability and robustness. In order to explore these applications and their challenges, we need tools and strategies that allow us to develop them rapidly. Serving drinks (i.e., locating, fetching, and delivering), is one such application with well-defined environments for operation, requirements for human interfacing, and metrics for successful completion. In this paper we present our experiences and results while building an autonomous robotic assistant using the PR21 platform and ROS2. The system integrates several new components that are built on top of the PR2’s current capabilities. Perception components include dynamic obstacle identification, mechanisms for identifying the refrigerator, types of drinks, and human faces. Planning components include navigation, arm motion planning with goal and path constraints, and grasping modules. One of the main contributions of this paper is a new task-level executive system, SMACH, based on hierarchical concurrent state machines, which controls the overall behavior of the system. We provide in-depth discussions on the solutions that we found in accomplishing our goal, and the implementation strategies that let us achieve them.
Jonathan Bohren Radu Bogdan Rusu E. Gil Jones Eitan Marder-Eppstein Caroline Pantofaru Melonee Wise Lorenz M(o)senlechner Wim Meeussen Stefan Holzer
Willow Garage 68 Willow Rd.,Menlo Park,CA 94025,USA
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5568-5575
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）