Abstract
In this paper, we describe system and approaches of our team NimbRo@Home that won the RoboCup@Home competition 2013. We designed a multi-purpose gripper for grasping typical household objects in pick-and-place tasks and also for using tools. The tools are complementarily equipped with special handles that establish form closure with the gripper, which resists wrenches in any direction. We demonstrate tool use for opening a bottle and grasping sausages with a pair of tongs in a barbecue scenario. We also devised efficient deformable registration methods for the transfer of manipulation skills between objects of the same kind but with differing shape. Finally, we enhance human-robot interaction with a remote user interface for handheld PCs that enables a user to control capabilities of the robot. These capabilities have been demonstrated in the open challenges of the competition. We also explain our approaches to the predefined tests of the competition, and report on the performance of our robots at RoboCup 2013.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
van der Zant, T., Wisspeintner, T.: RoboCup X: A proposal for a new league where RoboCup goes real world. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 166–172. Springer, Heidelberg (2006)
Wisspeintner, T., van der Zant, T., Iocchi, L., Schiffer, S.: RoboCup@Home: Scientific competition and benchmarking for domestic service robots. Interaction Studies 10(3), 393–428 (2009)
Elara, M.R., Holz, D., Iocchi, L., Mahmoudi, F., del Solar, J.R., Stückler, J., Sugiura, K., Wachsmuth, S., Xie, J., van der Zant, T.: RoboCup@Home: Rules & regulations (2013), http://www.robocupathome.org/rules
Stückler, J., et al.: NimbRo@Home: Winning team of the RoboCup@Home competition 2012. In: Chen, X., Stone, P., Sucar, L.E., van der Zant, T. (eds.) RoboCup 2012. LNCS (LNAI), vol. 7500, pp. 94–105. Springer, Heidelberg (2013)
Grisetti, G., Stachniss, C., Burgard, W.: Improved techniques for grid mapping with Rao-Blackwellized particle filters. IEEE Trans. on Rob. 23(1), 34–46 (2007)
Fox, D.: KLD-sampling: Adaptive particle filters and mobile robot localization. In: Advances in Neural Information Processing Systems (NIPS), pp. 26–32 (2001)
Stückler, J., Steffens, R., Holz, D., Behnke, S.: Efficient 3D object perception and grasp planning for mobile manipulation in domestic environments. In: Robotics and Autonomous Systems (2012)
Bay, H., Ess, A., Tuytelaars, T., Van Gool, L.: Speeded-up robust features (SURF). Computer Vision and Image Understanding 110(3), 346–359 (2008)
Myronenko, A., Song, X.: Point set registration: Coherent point drift. IEEE Trans. on PAMI 32(12), 2262–2275 (2010)
Stückler, J., Behnke, S.: Multi-resolution surfel maps for efficient dense 3D modeling and tracking. Visual Communication and Image Representation (2013)
Stückler, J., Behnke, S.: Efficient deformable registration of multi-resolution surfel maps for object manipulation skill transfer. In: IEEE International Conference on Robotics and Automation, ICRA (2014)
Droeschel, D., Stückler, J., Behnke, S.: Learning to interpret pointing gestures with a time-of-flight camera. In: Proceedings of the 6th ACM International Conference on Human-Robot Interaction, HRI (2011)
Stückler, J., Behnke, S.: Following human guidance to cooperatively carry a large object. In: Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 218–223 (2011)
Stückler, J., Behnke, S.: Compliant task-space control with back-drivable servo actuators. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds.) RoboCup 2011. LNCS, vol. 7416, pp. 78–89. Springer, Heidelberg (2012)
Muszynski, S., Stückler, J., Behnke, S.: Adjustable autonomy for mobile teleoperation of personal service robots. In: Proc. of the IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN (2012)
Schwarz, M., Stückler, J., Behnke, S.: Mobile teleoperation interfaces with adjustable autonomy for personal service robots. In: 9th ACM/IEEE International Conference on Human-Robot Interaction, HRI (2014)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Stückler, J. et al. (2014). Increasing Flexibility of Mobile Manipulation and Intuitive Human-Robot Interaction in RoboCup@Home. In: Behnke, S., Veloso, M., Visser, A., Xiong, R. (eds) RoboCup 2013: Robot World Cup XVII. RoboCup 2013. Lecture Notes in Computer Science(), vol 8371. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44468-9_13
Download citation
DOI: https://doi.org/10.1007/978-3-662-44468-9_13
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-662-44467-2
Online ISBN: 978-3-662-44468-9
eBook Packages: Computer ScienceComputer Science (R0)