Abstract
Cognitive service robots that shall assist persons in need in 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.
Highlights
In recent years, personal service robots that shall assist, e.g., handicapped or elderly persons in their activities of daily living have attracted increasing attention in robotics research
For the requirements of domestic service applications, and in particular, the tasks of the RoboCup@Home competitions, we developed a robot system that balances the aspects of robust mobility, human-like manipulation, and intuitive human–robot interaction
Since 2009, we compete with our cognitive service robots in the RoboCup@ Home league (Wisspeintner et al, 2009; Iocchi et al, 2015), which is the top venue for benchmarking domestic service robots
Summary
Personal service robots that shall assist, e.g., handicapped or elderly persons in their activities of daily living have attracted increasing attention in robotics research. The everyday tasks that we perform, for instance, in our households, are highly challenging to achieve with a robotic system, because the environment is complex, dynamic, and structured for human needs. Autonomous service robots require versatile mobile manipulation and human–robot interaction skills in order to really become useful. They should fetch objects, serve drinks and meals, and help with cleaning. Many capabilities that would be required for a truly useful household robot are still beyond the state-of-the-art in autonomous service robotics. Complementing autonomous capabilities of the robot with user interfaces for teleoperation enables the use of human cognitive abilities whenever autonomy reaches its limits and, could bring such robots faster toward real-word applications
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