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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

Clicked: 7621

Citations:  Bibtex RefMan EndNote GB/T7714

 ORCID:

Wei Shuai

https://orcid.org/0000-0002-8362-4331

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

http://doi.org/10.1631/FITEE.1900096


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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Abstract: 
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.

可佳:一种容忍环境变化的自助服务机器人

摘要:可佳是一个家庭服务机器人。硬件结构由一个可移动底盘、一个机械臂、两个相机构成;软件系统包括6个模块:感知、物体操纵、自然语言理解、运动规划、任务规划和整合决策。通过在线运行这些模块,机器人能够适应不可预知的动态环境。提出一个分层方法,将运动规划结果和神经网络结合,让机器人在执行动作时能够容忍传感器、齿轮间隙和人工干预造成的误差。在可佳机器人上验证了该方法,并让可佳在不断人为干扰下成功操纵微波炉烹饪爆米花。

关键词:机器人;任务规划;物品操纵

Darkslateblue:Affiliate; Royal Blue:Author; Turquoise:Article

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