Daniel Leidner and Alexander Dietrich, "Towards Intelligent Compliant Service Robots"

In Proc. of the Twenty-Ninth AAAI Conference on Artificial Intelligence
AAAI Video Competition, Nominated for Best Video Award

Compliant manipulation is one of the key aspects for future service robots in domestic and human environments. In this video we demonstrate our hybrid reasoning framework capable of planning and executing compliant whole-body manipulation tasks. A modular concept allows to combine robot capabilities together with object knowledge to parameterize a task symbolically and geometrically w.r.t. the actual state of the environment. A whole-body impedance control architecture is utilized to exert forces with various tools in order to solve everyday cleaning tasks. The framework is implemented on the humanoid robot Rollin' Justin and validated in three experiments which represent typical household chores: wiping a window, cleaning a mug, and sweeping the floor with a broom.

Originally postet for the AAAI Video Competition:    • Towards Intelligent Compliant Service...