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Matsushima T, Noguchi Y, Arima J, Aoki T, Okita Y, Ikeda Y, Ishimoto K, Taniguchi S, Yamashita Y, Seto S, Gu SS, Iwasawa Y, Matsuo Y. World robot challenge 2020 – partner robot: a data-driven approach for room tidying with mobile manipulator. Adv Robot 2022. [DOI: 10.1080/01691864.2022.2114297] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/01/2022]
Affiliation(s)
| | - Yuki Noguchi
- Graduate School of Engineering, The University of Tokyo, Tokyo, Japan
| | | | - Toshiki Aoki
- Faculty of Engineering, The University of Tokyo, Tokyo, Japan
| | - Yuki Okita
- Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan
| | - Yuya Ikeda
- Faculty of Engineering, The University of Tokyo, Tokyo, Japan
| | - Koki Ishimoto
- Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan
| | - Shohei Taniguchi
- Graduate School of Engineering, The University of Tokyo, Tokyo, Japan
| | - Yuki Yamashita
- Graduate School of Information Science and Technology, The University of Tokyo, Tokyo, Japan
| | - Shoichi Seto
- Faculty of Engineering, The University of Tokyo, Tokyo, Japan
| | - Shixiang Shane Gu
- Graduate School of Engineering, The University of Tokyo, Tokyo, Japan
| | - Yusuke Iwasawa
- Graduate School of Engineering, The University of Tokyo, Tokyo, Japan
| | - Yutaka Matsuo
- Graduate School of Engineering, The University of Tokyo, Tokyo, Japan
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Functionalities, Benchmarking System and Performance Evaluation for a Domestic Service Robot: People Perception, People Following, and Pick and Placing. APPLIED SCIENCES-BASEL 2022. [DOI: 10.3390/app12104819] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 02/05/2023]
Abstract
This paper describes the development of three main functionalities for a domestic mobile service robot and an automatic benchmarking system used for the systematic performance evaluation of the robot’s functionalities. Three main robot functionalities are addressed: (1) People Perception, (2) People Following and (3) Pick and Placing, where the hardware and software systems developed for each functionality are described and demonstrated on an actual mobile service robot, with the goal of providing assistance to an elderly person inside the house. Furthermore, a set of innovative benchmarks and an automatic performance evaluation system are proposed and used to evaluate the performance of the developed functionalities. These benchmarks are now made publicly available and is part of the European Robotics League (ERL)-Consumer to systematically evaluate the performance of service robot solutions at different testbeds around Europe.
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Piazza E, Lima PU, Matteucci M. Performance Models in Robotics With a Use Case on SLAM. IEEE Robot Autom Lett 2022. [DOI: 10.1109/lra.2022.3151162] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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An autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns. SN APPLIED SCIENCES 2021. [DOI: 10.1007/s42452-021-04506-7] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/21/2022] Open
Abstract
Abstract
This paper describes the implementation of an autonomous mobile manipulator to build outdoor structures consisting of heterogeneous brick patterns, finding applications in different industrial automation, manufacturing and civil construction scenarios. This system was developed for the Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020, to demonstrate the novel real-world application of constructing structures using teams of robots, showcasing once again the role of major scientific competitions in advancing the state of the art towards exploring solutions to open problems. The paper presents in detail the hardware and software architectures of the developed mobile manipulator, integrating different research results and developments into a functional complex robot system, while proposing methods to detect, approach and manipulate differently sized/colored bricks to build a wall of predefined pattern given to the robot just before the building task starts.
Article Highlights
Full system description of an autonomous mobile manipulator for construction tasks tested in a realistic setting
Algorithms for detection, localization, picking and placement of heterogeneous building blocks to form large structures
Versatile service robot capable of smooth adaptation to other functions developed through scientific robot competitions
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