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Towards Intelligent Compliant Service Robots

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/
Document Type:Conference or Workshop Item (Other)
Title:Towards Intelligent Compliant Service Robots
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Leidner, Danieldaniel.leidner (at) dlr.deUNSPECIFIED
Dietrich, Alexanderalexander.dietrich (at) dlr.deUNSPECIFIED
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 Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
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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