Towards Intelligent Compliant Service Robots

Kurzfassung

Force-sensitive manipulation is one of the key aspects for future service robots in domestic and human environments. In this video we will demonstrate our hybrid reasoning framework capable of planning and executing force-sensitive whole-body manipulation tasks. A modular concept allows to combine robot capabilities together with object knowledge to parameterize a task symbolically and geometrically w.r.t. the actual state of the environment. A whole-body impedance control architecture is utilized to exert forces with various tools in order to solve everyday cleaning tasks. The framework is implemented on the humanoid robot Rollin' Justin and validated in three experiments which represent typical household chores: wiping a window, cleaning a mug, and sweeping the floor with a broom.