可佳：一种容忍环境变化的自助服务机器人

帅威; 陈小平

doi:10.1631/FITEE.1900096

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可佳：一种容忍环境变化的自助服务机器人

智能机器人专题 | Updated：2022-05-19

- 可佳：一种容忍环境变化的自助服务机器人
- KeJia: towards an autonomous service robot with tolerance of unexpected environmental changes
- 信息与电子工程前沿（英文） 2019年20卷第3期页码：307-317
- 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：
  
  Project supported by the National Natural Science Foundation of China (Nos.U1613216 and 61573333) and the Fundamental Research Funds for the Central Universities, China
- DOI：10.1631/FITEE.1900096
  中图分类号： TP242.6;TP399
- 收稿：2019-02-20，
  
  修回：2019-;3-27，
  
  纸质出版：2019-03
- Accepted：
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帅威, 陈小平. 可佳：一种容忍环境变化的自助服务机器人[J]. 信息与电子工程前沿（英文）, 2019,20(3):307-317.

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.
帅威, 陈小平. 可佳：一种容忍环境变化的自助服务机器人[J]. 信息与电子工程前沿（英文）, 2019,20(3):307-317. DOI： 10.1631/FITEE.1900096.

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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