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Frontiers of Information Technology & Electronic Engineering
ISSN 2095-9184 (print), ISSN 2095-9230 (online)
2019 Vol.20 No.3 P.307-317
KeJia: towards an autonomous service robot with tolerance of unexpected environmental changes
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.
Key words: Robot, Task planning, Manipulation
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DOI:
10.1631/FITEE.1900096
CLC number:
TP242.6; TP399
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On-line Access:
2019-04-09
Received:
2019-02-20
Revision Accepted:
2019-03-20
Crosschecked:
2019-03-27