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Leidner, Daniel and Dietrich, Alexander (2015) Towards Intelligent Compliant Service Robots. In: 29th AAAI Conference on Artificial Intelligence. Twenty-Ninth AAAI Conference on Artificial Intelligence, Austin, Texas, USA.
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Abstract
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.
| Item URL in elib: | https://elib.dlr.de/94495/ | |||||||||
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| Document Type: | Conference or Workshop Item (Other) | |||||||||
| Title: | Towards Intelligent Compliant Service Robots | |||||||||
| Authors: |
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| Date: | 27 January 2015 | |||||||||
| Journal or Publication Title: | 29th AAAI Conference on Artificial Intelligence | |||||||||
| Refereed publication: | Yes | |||||||||
| Open Access: | No | |||||||||
| Gold Open Access: | No | |||||||||
| In SCOPUS: | No | |||||||||
| In ISI Web of Science: | No | |||||||||
| Status: | Published | |||||||||
| Keywords: | Artificial Intelligence, Service Robots, Whole-Body Manipulation, Impedance Control | |||||||||
| Event Title: | Twenty-Ninth AAAI Conference on Artificial Intelligence | |||||||||
| Event Location: | Austin, Texas, USA | |||||||||
| Event Type: | international Conference | |||||||||
| HGF - Research field: | Aeronautics, Space and Transport | |||||||||
| HGF - Program: | Space | |||||||||
| HGF - Program Themes: | Space System Technology | |||||||||
| DLR - Research area: | Raumfahrt | |||||||||
| DLR - Program: | R SY - Space System Technology | |||||||||
| DLR - Research theme (Project): | R - On-Orbit Servicing [SY] | |||||||||
| Location: | Oberpfaffenhofen | |||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation | |||||||||
| Deposited By: | Leidner, Daniel | |||||||||
| Deposited On: | 12 Jan 2015 17:34 | |||||||||
| Last Modified: | 12 Jan 2015 17:34 |
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