Mobile Manipulation - Robot "Kate" cleans up the table
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Uploaded by RoboticsAtHsUlm on May 5, 2011
This video shows a mobile manipulation scenario of our robot Kate cleaning up a table. The scenario was developed at the Collaborative Center of Applied Research on Service Robotics (ZAFH Service Robotics) at the University of Applied Sciences Ulm in Germany. Variants of the scenario were used at the RoboCup@Home GermanOpens 2011 in Magdeburg.
The whole system is developed using the SmartSoft MDSD Toolchain. It is one example of how to build a complex system by composing already existing reusable software components. The orchestration of the components is done with SmartTCL. At runtime a task-tree is dynamically created and modified depending on situation and context. Symbolic task planners, like metric-ff, are used to extend or modify the SmartTCL task-tree at runtime.
The object recognition is based on a point cloud captured with a HOKUYO laser ranger mounted on the Katana manipulator. The trajectory planning is done with OpenRAVE which takes the mesh representation of the objects into account.
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That was fascinating , its top notch robotics , best wishes to you and your loved ones
TheRobotCity 9 months ago
30 mins later => [kate] "im sorry there is an apple in front of them so they are not reachable, unfortunately, my main processor bu-buuu-burnt while calculating the path, you'll have to buy me another one."
Nanodev 10 months ago
[user] "Bring me a beer kate !!", [Kate] "there are seven beer in the fridge, wich one do you want ?", [user] "god damnit ! who cares ? just bring me a beer ! "
Nanodev 10 months ago