The Robot Household Marathon Experiment
The Robot Household Marathon Experiment
复制标题
机器人家庭马拉松实验
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
M. Beetz
中科院分区：
文献类型：
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作者：
Gayane Kazhoyan;Simon Stelter;Franklin Kenghagho Kenfack;Sebastian Koralewski;M. Beetz
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健壮性方面。这项实验涉及执行各种移动拾取和放置动作，以及在人类家庭中打开/关闭环境容器。预计机器人将在很长一段时间内完全自主行动。我们讨论了实验带来的科学挑战，并介绍了我们的机器人系统，它可以应对这些挑战，并成功地执行实验的所有任务。我们介绍了经验结果和吸取的教训，并讨论了我们遇到的局限性。
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.