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

Wei SHUAI; Xiao-ping CHEN

doi:10.1631/FITEE.1900096

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

Special Feature on Intelligent Robots | Updated：2022-05-19

- KeJia: towards an autonomous service robot with tolerance of unexpected environmental changes
- 可佳：一种容忍环境变化的自助服务机器人
- Frontiers of Information Technology & Electronic Engineering Vol. 20, Issue 3, Pages: 307-317(2019)
- Affiliations：
  
  Department of Computer Science and Technology, University of Science and Technology of China, Hefei 230027, China
- Author bio：
  
  Wei SHUAI, E-mail: swwsag@mail.ustc.edu.cn
  [ "Xiao-ping CHEN, E-mail: xpchen@ustc.edu.cn" ]
- Funds：
- DOI：10.1631/FITEE.1900096
  CLC： TP242.6;TP399
- Received：20 February 2019，
  
  Revised：2019-;3-27，
  
  Published：2019-03
- Accepted：
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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.
DOI：

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. DOI： 10.1631/FITEE.1900096.

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。

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.

关键词

Keywords

references

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