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.
翻译:利用移动操纵器解决家庭环境,给机器人带来各种挑战,例如适应大规模真实世界环境变化,在人类面前安全而有力的部署。 2021年9月举行的世界机器人挑战(WRC)世界机器人挑战(WRC)伙伴机器人挑战(WRC)2020,这是2021年9月举行的一次全球竞赛,在真实的家庭环境中设定了清洁任务的基准,而且重要的是,测试了系统的全面性能。为了应对这一挑战,我们开发了一个完整的家用服务机器人系统,利用数据驱动方法适应执行过程中出现的众多边缘情况,而不是传统的人工预编程序解决方案。 在本文中,我们描述了拟议机器人系统的核心要素,包括视觉识别、物体操纵和运动规划。我们的机器人系统赢得了第二奖,核查了数据驱动机器人系统在家庭环境中移动操纵的有效性和潜力。