• xmlui.mirage2.page-structure.header.title
    • français
    • English
  • Help
  • Login
  • Language 
    • Français
    • English
View Item 
  •   BIRD Home
  • DRM (UMR CNRS 7088)
  • Projet ACCRA
  • View Item
  •   BIRD Home
  • DRM (UMR CNRS 7088)
  • Projet ACCRA
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Browse

BIRDResearch centres & CollectionsBy Issue DateAuthorsTitlesTypeThis CollectionBy Issue DateAuthorsTitlesType

My Account

LoginRegister

Statistics

Most Popular ItemsStatistics by CountryMost Popular Authors
Thumbnail

Integration of Shared Autonomy System for Grasping Multiple Objects in the Domestic Environment

Kim, Jaeseok; Limosani, Raffaele; Cavallo, Filippo (2018), Integration of Shared Autonomy System for Grasping Multiple Objects in the Domestic Environment. https://basepub.dauphine.fr/handle/123456789/20811

View/Open
preprints201810.0138.v1.pdf (7.175Mb)
Type
Document de travail / Working paper
Date
2018
Publication identifier
10.20944/preprints201810.0138.v1
Metadata
Show full item record
Author(s)
Kim, Jaeseok
BioRobotics Institute of Sant'Anna [Pisa]
Limosani, Raffaele
BioRobotics Institute of Sant'Anna [Pisa]
Cavallo, Filippo
BioRobotics Institute of Sant'Anna [Pisa]
Abstract (EN)
In recent years, autonomous robots have proven capable of solving tasks in complex environments. In particular, robot manipulations in activities of daily living (ADL) for service robots have been in wide use. However, manipulations such as loading a dishwasher or folding laundry are difficult to automate robustly. In addition, manipulations of grasping multiple objects in domestic environments present difficulty. To perform those applications better, we developed robotic systems based on shared autonomy by combining the cognitive skills of a human operator with autonomous robot behaviors. In this work, we present techniques for integration of a shared autonomy system for assistive mobile manipulation and new strategies to support users in the domestic environment. We demonstrate that the robot can grasp multiple objects with random size at known and unknown table heights. Specifically, we developed three strategies for manipulation. From experimental results, we observed that the first strategy has the highest success rate (70% for random objects) up to 70 cm table height. Two other strategies perform better for 80 cm to 100 cm table height. The success rate of the second and third strategies shows an average 63.3% and 73.3%, respectively, for grasping random objects. We also demonstrated these strategies using two intuitive interfaces, a visual interface in rviz and a voice user interface with speech recognition, which are suitable for elderly people. In addition, the robot can select strategies automatically in random scenarios, which make the robot intelligent and able to make decisions independently in the environment. We obtained interesting results showing that the robot adapts to the environmental variation automatically. After these experimental demonstrations, our robot shows the capabilities for employment in domestic environments to perform actual tasks.
Subjects / Keywords
mobile manipulation; shared autonomy; assitive robotics; grasping multiple objects; service robotics

Related items

Showing items related by title and author.

  • Thumbnail
    Agile Co-Creation for Robots and Aging (ACCRA) Project: new technological solutions for older people 
    D’Onofrio, Grazia; Fiorini, Laura; De Mul, Marleen; Guiot, Denis; Sengès, Eloïse; Fabbricotti, Isabelle; Okabe, Yasuo; Hoshino, Hiroshi; Limosani, Raffaele; Vitanza, Alessandra; Greco, Francesca; Giuliani, Francesco; Kung, Antonio; Cavallo, Filippo; Sancarlo, Daniele; Greco, Antonio (2018) Article accepté pour publication ou publié
  • Thumbnail
    ACCRA Project: Agile Co-Creation for Robots and Aging 
    Fiorini, Laura; D’Onofrio, Grazia; Limosani, Raffaele; Sancarlo, Daniele; Greco, Antonio; Giuliani, Francesco; Kung, Antonio; Dario, Paolo; Cavallo, Filippo Communication / Conférence
  • Thumbnail
    Two-person activity recognition using skeleton data 
    Manzi, Alessandro; Fiorini, Laura; Limosani, Raffaele; Dario, Paolo; Cavallo, Filippo (2017) Article accepté pour publication ou publié
  • Thumbnail
    Connecting ROS and FIWARE: Concepts and Tutorial 
    Limosani, Raffaele; Manzi, Alessandro; Fiorini, Laura; Dario, Paolo; Cavallo, Filippo Chapitre d'ouvrage
  • Thumbnail
    The Role of Design in the Appropriation of Shared Objects: Autolib in Paris 
    Martin, Adèle; Darpy, Denis (2015) Communication / Conférence
Dauphine PSL Bibliothèque logo
Place du Maréchal de Lattre de Tassigny 75775 Paris Cedex 16
Phone: 01 44 05 40 94
Contact
Dauphine PSL logoEQUIS logoCreative Commons logo