scholarly journals Unified Software Platform for Intelligent Home Service Robots

2020 ◽  
Vol 10 (17) ◽  
pp. 5874
Author(s):  
Jae-Bong Yi ◽  
Taewoong Kang ◽  
Dongwoon Song ◽  
Seung-Joon Yi
Keyword(s):  
General Purpose ◽  
Service Robots ◽  
Service Robot ◽  
Physical Work ◽  
Software Framework ◽  
Mobile Manipulation ◽  
Autonomous Operation ◽  
Home Service ◽  
Manipulation Robots ◽  
Human Support

Although the mobile manipulation capability is crucial for a service robot to perform physical work without human support, the long-term autonomous operation of such a mobile manipulation robot in a real environment is still a tremendously difficult task. In this paper, we present a modular, general purpose software framework for intelligent mobile manipulation robots that can interact with humans using complex human speech commands; navigate smoothly in tight indoor spaces; and finally detect and manipulate various household objects and pieces of furniture autonomously. The suggested software framework is designed to be easily transferred to different home service robots, which include the Toyota Human Support Robot (HSR) and our Modular Service Robot-1 (MSR-1) platforms. It has successfully been used to solve various home service tasks at the RoboCup@Home and World Robot Summit international service robot competitions with promising results.

Generic Technology of Home Service Robot

2011 ◽  
Vol 121-126 ◽  
pp. 3330-3334
Author(s):  
Zhong Hai Yu
Keyword(s):  
Modular Design ◽  
Service Robots ◽  
Service Robot ◽  
Home Nursing ◽  
Paper Briefly ◽  
Home Service Robot ◽  
Home Service ◽  
Reconfigurable Robot ◽  
Research Situation ◽  
Technology Standardization

The paper briefly looks back on current research situation of home service robots. It takes a home nursing robot as example to study and discuss some key generic technologies of home service robots. It generally overviewed robot’s mobile platform technology, modular design, reconfigurable robot technique, motion control, sensor technologies, indoor robot’s navigation and localization technology indoor, intelligentization, and robot’s technology standardization. Some the measures of technology standardization of home service robots have been put forward. It has realistic signification for industrialization of home service robots.

Facial Expression Recognition of Home Service Robots

2013 ◽  
Vol 411-414 ◽  
pp. 1795-1800 ◽  
Author(s):  
Xiang Zhang Chen ◽  
Zhi Hao Yin ◽  
Ze Su Cai ◽  
Ding Ding Zhu
Keyword(s):  
Facial Expression ◽  
Facial Expressions ◽  
Nearest Neighbor ◽  
Service Robots ◽  
Service Robot ◽  
K Nearest Neighbor ◽  
Nearest Neighbor Classification ◽  
Adaboost Algorithm ◽  
Home Service ◽  
Neighbor Classification

It is of great significance that a home service robot can recognize facial expressions of a human being. This thesis suggests that features of facial expressions be extracted with PCA, and facial expressions be recognized by distance-based Hashing K-nearest neighbor classification. First, Haar-like feature and AdaBoost algorithm is adopted to detect a face and preprocess the face image; then PCA is applied to extract features of the facial expression, those features will be inserted into the hash table; finally, the facial expression can be recognized by K-nearest neighbor classification algorithm. As concluded, recognition efficiency can be greatly improved after reconstructing the feature database into hash tables.

3D Elastic Deformable Object Model for Robot Manipulation Purposes

2014 ◽  
Vol 18 (3) ◽  
pp. 375-382 ◽  
Author(s):  
Khairul Salleh Mohamed Sahari ◽  
◽  
Yew Cheong Hou
Keyword(s):  
The State ◽  
Service Robots ◽  
Robotic Arm ◽  
Service Robot ◽  
Integration Scheme ◽  
Explicit Integration ◽  
Robot Manipulation ◽  
Deformable Object ◽  
Home Service ◽  
Mass Spring

This paper presents a mass-spring model applied to the manipulation of an elastic deformable object for home service robot application. A system is also proposed that is used to fold a piece of rectangular cloth from a specific initial condition using a robot. The cloth is modeled as a three-dimensional object in a two-dimensional quadrangular mesh based on a massspring system, and its state is estimated using an explicit integration scheme that computes the particle position as a function of the internal and external forces acting on the elastic deformable object. The current state of the elastic deformable object under robot manipulation is tracked based on the trajectory of the mass points in the mass-spring system model in a self-developed simulator, which integrates a massspring model and a five-degree-of-freedom articulated robotic arm. To test the reliability of the model, the simulator is used to predict the best possible paths for using the robotic arm to fold a rectangular cloth into two. In the test, the state of the object is derived from the model and then compared with the results of a practical experiment. Based on the test, the error is found to be generally acceptable. Thus, this model can be used as an estimator for the vision-based tracking of the state of an elastic deformable object for manipulation by home service robots.

Project Donaxi@HOME Service Robot

2013 ◽  
Vol 423-426 ◽  
pp. 2817-2820 ◽  
Author(s):  
Hector S. Vargas ◽  
Edson Olmedo ◽  
Aldo Daniel Martinez ◽  
Victor Poisot ◽  
Agustin Perroni ◽  
...  
Keyword(s):  
Human Robot Interaction ◽  
Service Robots ◽  
Service Robot ◽  
Robot Interaction ◽  
Effective Implementation ◽  
Modular Software ◽  
Detection And Tracking ◽  
Home Service Robot ◽  
Home Service ◽  
Human Face Detection

Donaxi is a prototype to improve their different capacities in the area of service robotics. This paper describes the functional architecture design and the different modules that integrate it of the service robot Donaxi of UPAEP. Novel results are presented here in the area of face recognition; we propose theHybrid Algorithm to Human-Face Detection and Tracking UnrestrictedandIdentification of People on the Floor Due to a Fall or Other Accident. The robot Donaxi is used as a vehicle for research in control of movement and human-robot interaction. The at Home League of RoboCup provides an ideal tested for such aspects of dynamic in motion indoor, skills to manipulate objects, aptitudes to intergesticulate with the persons in natural language and more. A modular software architecture as well as further technologies have been developed for efficient and effective implementation and test of modules for sensing, planning, behavior, and actions of service robots.

The Art of Gate-Crashing

2009 ◽  
Vol 10 (3) ◽  
pp. 274-297 ◽  
Author(s):  
Helge Hüttenrauch ◽  
Elin A. Topp ◽  
Kerstin Severinson-Eklundh
Keyword(s):  
General Purpose ◽  
Human Robot Interaction ◽  
Service Robots ◽  
Service Robot ◽  
Laboratory Studies ◽  
Service Robotics ◽  
Robot Interaction ◽  
Sensory Data ◽  
Spatial Management ◽  
Personal Robot

Special purpose service robots have already entered the market and their users’ homes. Also the idea of the general purpose service robot or personal robot companion is increasingly discussed and investigated. To probe human–robot interaction with a mobile robot in arbitrary domestic settings, we conducted a study in eight different homes. Based on previous results from laboratory studies we identified particular interaction situations which should be studied thoroughly in real home settings. Based upon the collected sensory data from the robot we found that the different environments influenced the spatial management observable during our subjects’ interaction with the robot. We also validated empirically that the concept of spatial prompting can aid spatial management and communication, and assume this concept to be helpful for Human–Robot Interaction (HRI) design. In this article we report on our exploratory field study and our findings regarding, in particular, the spatial management observed during show episodes and movement through narrow passages. Keywords: COGNIRON, Domestic Service Robotics, Robot Field Trial, Human Augmented Mapping (HAM), Human–Robot Interaction (HRI), Spatial Management, Spatial Prompting

scholarly journals Semantic Task Planning for Service Robots in Open Worlds

2021 ◽  
Vol 13 (2) ◽  
pp. 49
Author(s):  
Guowei Cui ◽  
Wei Shuai ◽  
Xiaoping Chen
Keyword(s):  
Language Processing ◽  
Domain Knowledge ◽  
Environmental Changes ◽  
General Purpose ◽  
Planning System ◽  
Service Robots ◽  
Service Robot ◽  
Dynamic Changes ◽  
World State ◽  
Open World

This paper presents a planning system based on semantic reasoning for a general-purpose service robot, which is aimed at behaving more intelligently in domains that contain incomplete information, under-specified goals, and dynamic changes. First, Two kinds of data are generated by Natural Language Processing module from the speech: (i) action frames and their relationships; (ii) the modifier used to indicate some property or characteristic of a variable in the action frame. Next, the task’s goals are generated from these action frames and modifiers. These goals are represented as AI symbols, combining world state and domain knowledge, which are used to generate plans by an Answer Set Programming solver. Finally, the plan’s actions are executed one by one, and continuous sensing grounds useful information, which makes the robot use contingent knowledge to adapt to dynamic changes and faults. For each action in the plan, the planner gets its preconditions and effects from domain knowledge, so during the execution of the task, the environmental changes, especially those conflict with the actions, not only the action being performed but also the subsequent actions, can be detected and handled as early as possible. A series of case studies are used to evaluate the system and verify its ability to acquire knowledge through dialogue with users, solve problems with the acquired causal knowledge, and plan for complex tasks autonomously in the open world.

scholarly journals Design of Smart Home Service Robot Based on ROS

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Jiansheng Peng ◽  
Hemin Ye ◽  
Qiwen He ◽  
Yong Qin ◽  
Zhenwu Wan ◽  
...  
Keyword(s):  
Smart Home ◽  
Service Robots ◽  
Service Robot ◽  
Raspberry Pi ◽  
Robot System ◽  
Gas Leakage ◽  
Home Service Robot ◽  
Home Service ◽  
Robot Systems ◽  
And Control

At present, the functions of home service robots are not perfect, and home service robot systems that can independently complete autonomous inspections and home services are still lacking. In response to this problem, this paper designs a smart home service robot system based on ROS. The system uses Raspberry Pi 3B as the main control to manage the nodes of each sensor. CC2530 sets up a ZigBee network to collect home environmental information and control home electrical appliances. The image information of the home is collected by the USB camera. The human speech is recognized by Baidu Speech Recognition API. When encountering a dangerous situation, the GSM module is used to give users SMS and phone alarms. Arduino mega2560 is used as the bottom controller to control the movement of the service robot. The indoor environment map of the home is constructed by the lidar and the attitude sensor. The service robot finally designed and developed realizes the functions of wireless control of home appliances, voice remote control, autonomous positioning and navigation, liquefied gas leakage alarm, and human infrared detection alarm. Compared with the household service robots in the related literature, the household service robots developed by us have more complete functions. And the robot system has completed the task of combining independent patrol and home service well.

scholarly journals Application of modified Asimov’s laws to the agent of home service robot using state, operator, and result (Soar)

2018 ◽  
Vol 15 (3) ◽  
pp. 172988141878082 ◽  
Author(s):  
Chien Van Dang ◽  
Mira Jun ◽  
Yong-Bin Shin ◽  
Jae-Won Choi ◽  
Jong-Wook Kim
Keyword(s):  
Decision Making ◽  
Food Item ◽  
The Elderly ◽  
Food Delivery ◽  
Service Robots ◽  
Service Robot ◽  
Human Beings ◽  
State Operator ◽  
Home Service Robot ◽  
Home Service

This study aims to interpret and apply Asimov’s Three Laws of Robotics to home service robots. An agent is developed herein with the ability to focus its attention on human beings’ health, particularly the elderly and the diseased, by delivering food. The agent is developed on a cognitive agent architecture, state, operator, and result (Soar), to enable effective reasoning and decision-making skills. This study deals with basic home care services, such as food delivery and emergency response; therefore, common food care and emergency rules are newly proposed based on the priority values that correspond to a family’s circumstances and/or emergency levels. Asimov’s Three Laws are modified to aid the home service robot to follow a predetermined order in selecting a food item or recommending an alternative food item suitable for its user’s prevailing health condition. Experimental results confirm that reasoning and decision-making of the proposed agent are logically and ethically valid for a home service robot and ensure compliance with both the original and modified Asimov’s Three Laws.

scholarly journals Planning and Reinforcement Learning for General-Purpose Service Robots

2021 ◽  
Author(s):  
Yuqian Jiang
Keyword(s):  
Reinforcement Learning ◽  
General Purpose ◽  
Service Robots ◽  
Service Robot ◽  
Robot Systems ◽  
Significant Step ◽  
Robot Tasks ◽  
Learning To Reason ◽  
High Level ◽  
And Robotics

Despite recent progress in AI and robotics research, especially learned robot skills, there remain significant challenges in building robust, scalable, and general-purpose systems for service robots. This Ph.D. research aims to combine symbolic planning and reinforcement learning to reason about high-level robot tasks and adapt to the real world. We will introduce task planning algorithms that adapt to the environment and other agents, as well as reinforcement learning methods that are practical for service robot systems. Taken together, this work will make a significant step towards creating general-purpose service robots.

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