Cosero Robot Test, Our Robot Recognized Two Complex Speech Commands Was Guided Through a Previously Unknown Bar
TECHNOLOGY REPOrt published: 07 November 2016 doi: 10.3389/frobt.2016.00058 Mobile Manipulation, Tool Use, and Intuitive Interaction for Cognitive Service Robot Cosero Jörg Stückler, Max Schwarz and Sven Behnke* Institute for Computer Science VI, Autonomous Intelligent Systems, University of Bonn, Bonn, Germany Cognitive service robots that shall assist persons in need of performing their activities of daily living have recently received much attention in robotics research. Such robots require a vast set of control and perception capabilities to provide useful assistance through mobile manipulation and human–robot interaction. In this article, we present hardware design, perception, and control methods for our cognitive service robot Cosero. We complement autonomous capabilities with handheld teleoperation interfaces on three levels of autonomy. The robot demonstrated various advanced skills, including the use of tools. With our robot, we participated in the annual international RoboCup@Home competitions, winning them three times in a row. Keywords: cognitive service robots, mobile manipulation, object perception, human–robot interaction, shared autonomy, tool use Edited by: Jochen J. Steil, Bielefeld University, Germany 1. INTRODUCTION Reviewed by: Nikolaus Vahrenkamp, In recent years, personal service robots that shall assist, e.g., handicapped or elderly persons in their Karlsruhe Institute of Technology, Germany activities of daily living have attracted increasing attention in robotics research. The everyday tasks Feng Wu, that we perform, for instance, in our households, are highly challenging to achieve with a robotic sys- University of Science and Technology tem, because the environment is complex, dynamic, and structured for human needs. Autonomous of China, China service robots require versatile mobile manipulation and human–robot interaction skills in order to *Correspondence: really become useful.
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