论文标题
世界机器人挑战2020年 - 合作伙伴机器人：通过移动操纵器整理房间的数据驱动方法
World Robot Challenge 2020 -- Partner Robot: A Data-Driven Approach for Room Tidying with Mobile Manipulator
论文作者
论文摘要
使用移动操纵器来整理家庭环境，在机器人技术中构成了各种挑战，例如适应大型现实世界的环境变化，以及在人类面前的安全部署中，安全而强大开发了整个家庭服务机器人系统，该系统利用数据驱动的方法来适应执行过程中发生的许多边缘案例，而不是经典的手动预处理解决方案。在本文中，我们描述了提议的机器人系统的核心成分，包括视觉识别，对象操纵和运动计划。我们的机器人系统赢得了二等奖，验证了数据驱动的机器人系统在家庭环境中移动操作的有效性和潜力。
Tidying up a household environment using a mobile manipulator poses various challenges in robotics, such as adaptation to large real-world environmental variations, and safe and robust deployment in the presence of humans.The Partner Robot Challenge in World Robot Challenge (WRC) 2020, a global competition held in September 2021, benchmarked tidying tasks in the real home environments, and importantly, tested for full system performances.For this challenge, we developed an entire household service robot system, which leverages a data-driven approach to adapt to numerous edge cases that occur during the execution, instead of classical manual pre-programmed solutions. In this paper, we describe the core ingredients of the proposed robot system, including visual recognition, object manipulation, and motion planning. Our robot system won the second prize, verifying the effectiveness and potential of data-driven robot systems for mobile manipulation in home environments.
