System Architecture for Autonomous Mobile Manipulation of Everyday Objects in Domestic Environments
Published in PETRA: Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments, 2019
Recommended citation: Tarik Keleştemur, Naoki Yokoyama, Joanne Truong, Anas Abou Allaban, and Taşkin Padir. 2019. System architecture for autonomous mobile manipulation of everyday objects in domestic environments. In Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments (PETRA 19). Association for Computing Machinery, New York, NY, USA, 264–269. DOI:https://doi.org/10.1145/3316782.3316797 https://dl.acm.org/doi/abs/10.1145/3316782.3316797
Assistive service robots have a great potential for helping elderly or motor-impaired people in everyday tasks. Specifically, enabling robots to manipulate objects in home environments is a critical step towards independent life. In this work, we focus on developing a complete system for autonomous mobile manipulation. We describe our system, which consists of natural language processing, perception, navigation, and integrated motion and grasp planning modules.
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