ICRA 2011 Paper Abstract


Paper ThP108.1

Bohren, Jonathan (Johns Hopkins University, Willow Garage Inc.), Rusu, Radu Bogdan (Willow Garage, Inc), Jones, Edward Gil (Willow Garage, Inc.), Marder-Eppstein, Eitan (Willow Garage), Pantofaru, Caroline (Willow Garage, Inc.), Wise, Melonee (Willow Garage), Mösenlechner, Lorenz (Technische Universität München), Meeussen, Wim (Willow Garage inc.), Holzer, Stefan (Technische Universität München)

Towards Autonomous Robotic Butlers: Lessons Learned with the PR2

Scheduled for presentation during the Regular Sessions "Robotic Software, Middleware and Programming Environments I" (ThP108), Thursday, May 12, 2011, 13:40−13:55, Room 5C

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Personal Robots, Domestic Robots, Robotic Software, Middleware and Programming Environments


As autonomous personal robots come of age, we expect certain applications to be executed with a high degree of repeatability and robustness. In order to explore these applications and their challenges, we need tools and strategies that allow us to develop them rapidly. Serving drinks (i.e., locating, fetching, and delivering), is one such application with well-defined environments for operation, requirements for human interfacing, and metrics for successful completion. In this paper we present our experiences and results while building an autonomous robotic assistant using the PR2 platform and ROS. The system integrates several new components that are built on top of the PR2's current capabilities. Perception components include dynamic obstacle identification, mechanisms for identifying the refrigerator, types of drinks, and human faces. Planning components include navigation, arm motion planning with goal and path constraints, and grasping modules. One of the main contributions of this paper is a new task-level executive system, SMACH, based on hierarchical concurrent state machines, which controls the overall behavior of the system. We provide in-depth discussions on the solutions that we found in accomplishing our goal, and the implementation strategies that let us achieve them.



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