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CLC number: TP242.6; TP399

On-line Access: 2019-04-09

Received: 2019-02-20

Revision Accepted: 2019-03-20

Crosschecked: 2019-03-27

Cited: 0

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Citations:  Bibtex RefMan EndNote GB/T7714


Wei Shuai


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Frontiers of Information Technology & Electronic Engineering  2019 Vol.20 No.3 P.307-317


KeJia: towards an autonomous service robot with tolerance of unexpected environmental changes

Author(s):  Wei Shuai, Xiao-ping Chen

Affiliation(s):  DDepartment of Computer Science and Technology, University of Science and Technology of China, Hefei 230027, China

Corresponding email(s):   swwsag@mail.ustc.edu.cn, xpchen@ustc.edu.cn

Key Words:  Robot, Task planning, Manipulation

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Wei Shuai, Xiao-ping Chen. KeJia: towards an autonomous service robot with tolerance of unexpected environmental changes[J]. Frontiers of Information Technology & Electronic Engineering, 2019, 20(3): 307-317.

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KeJia is a domestic service robot, consisting of a mobile base, an arm, two cameras, and a set of software components for perception, manipulation, natural language understanding, motion and task planning, and decision making. With on-line running of these functions, a robot can adapt to dynamic environments which may have unexpected changes. In this paper, we propose a novel hierarchical method which combines motion planning with a neural network, so that the robot can tolerate errors from sensors, wear of parts, and human disturbances during motion execution. We evaluate our work on KeJia that cooks popcorn using a microwave oven, where humans try to disturb KeJia during the operation.




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