在家庭环境中自主移动操作日常物品的系统架构

Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments Pub Date : 2019-06-05 DOI:10.1145/3316782.3316797

Tarik Kelestemur, Naoki Yokoyama, Joanne Truong, Anas Abou Allaban, T. Padır

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引用次数: 10

摘要

辅助服务机器人在帮助老年人或运动障碍者完成日常任务方面具有很大的潜力。具体来说，使机器人能够在家庭环境中操纵物体是迈向独立生活的关键一步。在这项工作中，我们专注于开发一个完整的自主移动操作系统。我们描述了我们的系统，它由自然语言处理、感知、导航和集成的运动和抓取规划模块组成。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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System architecture for autonomous mobile manipulation of everyday objects in domestic environments

Assistive service robots have a great potential for helping elderly or motor-impaired people in everyday tasks. Specifically, enabling robots to manipulate objects in home environments is a critical step towards independent life. In this work, we focus on developing a complete system for autonomous mobile manipulation. We describe our system, which consists of natural language processing, perception, navigation, and integrated motion and grasp planning modules.

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Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments

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