论文标题
机器人家庭马拉松实验
The Robot Household Marathon Experiment
论文作者
论文摘要
在本文中，我们提出了一个实验，旨在调查和评估移动操作的可扩展性和鲁棒性方面。该实验涉及进行移动挑选的变化，放置动作，并在人类家庭中开放/关闭环境容器。预计该机器人将在长时间内完全自主行动。我们讨论了实验提出的科学挑战，并介绍了我们的机器人系统，该系统可以解决这些挑战并成功执行实验的所有任务。我们提出了经验结果以及所学的经验教训，并讨论了我们遇到局限性的位置。
In this paper, we present an experiment, designed to investigate and evaluate the scalability and the robustness aspects of mobile manipulation. The experiment involves performing variations of mobile pick and place actions and opening/closing environment containers in a human household. The robot is expected to act completely autonomously for extended periods of time. We discuss the scientific challenges raised by the experiment as well as present our robotic system that can address these challenges and successfully perform all the tasks of the experiment. We present empirical results and the lessons learned as well as discuss where we hit limitations.
