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Towards Robust Mobility, Flexible Object Manipulation, and Intuitive Multimodal Interaction for Domestic Service Robots

  • Jörg Stückler
  • David Droeschel
  • Kathrin Gräve
  • Dirk Holz
  • Jochen Kläß
  • Michael Schreiber
  • Ricarda Steffens
  • Sven Behnke
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7416)

Abstract

In this paper, we detail the contributions of our team NimbRo to the RoboCup @Home league in 2011. We explain design and rationale of our domestic service robot Cosero that we used for the first time in a competition in 2011. We demonstrated novel capabilities in the league such as real-time table-top segmentation, flexible grasp planning, and real-time tracking of objects. We also describe our approaches to human-robot cooperative manipulation and 3D navigation. Finally, we report on the use of our approaches and the performance of our robots at RoboCup 2011.

Keywords

Obstacle Avoidance Humanoid Robot Gesture Recognition Service Robot Global Localization 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Jörg Stückler
    • 1
  • David Droeschel
    • 1
  • Kathrin Gräve
    • 1
  • Dirk Holz
    • 1
  • Jochen Kläß
    • 1
  • Michael Schreiber
    • 1
  • Ricarda Steffens
    • 1
  • Sven Behnke
    • 1
  1. 1.Computer Science Institute VI: Autonomous Intelligent SystemsRheinische Friedrich-Wilhelms-Universität BonnBonnGermany

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