论文标题
机器人管家的快速感知，计划和执行：车轮类人动物M-Hubo
Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid M-Hubo
论文作者
论文摘要
随着人口老龄化的速度增长，对服务机器人平台的需求越来越不断增长，可以以可靠的速度以可靠的速度提供日常援助。为了协助诸如获取饮料之类的日常任务，服务机器人必须能够感知其环境并生成相应的运动轨迹。当环境未知时，这将成为一个具有挑战性且计算复杂的问题，因此路径规划师必须采样许多通常是优势的轨迹，从而延长了执行时间。为了解决这个问题，我们提出了一种独特的策略，将3D对象检测管道与运动学上最佳操纵计划器集成在一起，以显着提高运行时的速度性能。此外，我们开发了一种新的机器人管家系统，用于车轮类人生物，该系统能够以人类完成相同任务所需的速度的24％以24％的速度获取所需的对象。在现实世界环境设置以及公开展览中对拟议的系统进行了评估和证明。
As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories. This becomes a challenging and computationally complex problem when the environment is unknown and thus the path planner must sample numerous trajectories that often are sub-optimal, extending the execution time. To address this issue, we propose a unique strategy of integrating a 3D object detection pipeline with a kinematically optimal manipulation planner to significantly increase speed performance at runtime. In addition, we develop a new robotic butler system for a wheeled humanoid that is capable of fetching requested objects at 24% of the speed a human needs to fulfill the same task. The proposed system was evaluated and demonstrated in a real-world environment setup as well as in public exhibition.
