Team Tidyboy at the WRS 2020: a modular software framework for home service robots. (17th September 2022)
- Record Type:
- Journal Article
- Title:
- Team Tidyboy at the WRS 2020: a modular software framework for home service robots. (17th September 2022)
- Main Title:
- Team Tidyboy at the WRS 2020: a modular software framework for home service robots
- Authors:
- Kang, Taewoong
Song, Dongwoon
Yi, Jae-Bong
Kim, Joonyoung
Lee, Chung-Yeon
Yoo, Youngjae
Kim, Minji
Jo, Hyun-Jun
Zhang, Byoung-Tak
Song, Jaebok
Yi, Seung-Joon - Abstract:
- Abstract : This paper describes Team Tidyboy's approach to build a functional, robust, yet highly modular software framework for home service robots. Home service tasks require a number of software modules to work together, which includes verbal and nonverbal human robot interactions, 3D perception of known and unknown objects and manipulation of various objects using movement of both the manipulator and the base of the robot. World Robot Summit (WRS) 2020 Partner Robot Challenge (PRC) rule has raised the bar higher by asking for a reliable, long-term operation of such a system without human intervention. We present how we have overcome such challenges by robust software modules, repeated experiments in randomly initialized simulated environments, and finally introduction of various failure detection and recovery algorithms. Our software is successfully validated in RoboCup@Home 2021 and WRS 2020 PRC remote participation league, which led us to obtaining the first places in both competitions. GRAPHICAL ABSTRACT: UF0001
- Is Part Of:
- Advanced robotics. Volume 36:Number 17/18(2022)
- Journal:
- Advanced robotics
- Issue:
- Volume 36:Number 17/18(2022)
- Issue Display:
- Volume 36, Issue 17/18 (2022)
- Year:
- 2022
- Volume:
- 36
- Issue:
- 17/18
- Issue Sort Value:
- 2022-0036-NaN-0000
- Page Start:
- 836
- Page End:
- 849
- Publication Date:
- 2022-09-17
- Subjects:
- World robot summit 2020 -- home service robot -- modular software framework
Robotics -- Periodicals
Robotics -- Japan -- Periodicals
Robotics
Japan
Periodicals
629.89205 - Journal URLs:
- http://www.catchword.com/rpsv/cw/vsp/01691864/contp1.htm ↗
http://catalog.hathitrust.org/api/volumes/oclc/14883000.html ↗
http://www.tandfonline.com/toc/tadr20/current ↗
http://www.tandfonline.com/ ↗
http://firstsearch.oclc.org ↗
http://firstsearch.oclc.org/journal=0169-1864;screen=info;ECOIP ↗
http://www.ingentaselect.com/vl=16659242/cl=11/nw=1/rpsv/cw/vsp/01691864/contp1.htm ↗ - DOI:
- 10.1080/01691864.2022.2111229 ↗
- Languages:
- English
- ISSNs:
- 0169-1864
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - 0696.926500
British Library DSC - BLDSS-3PM
British Library STI - ELD Digital store - Ingest File:
- 24095.xml