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| robocup19 [2019/01/09 08:31] – s_7teji4 | robocup19 [2019/01/09 10:42] – [EASE] danielb |
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| ===== SUTURO 18/19 ===== | ===== SUTURO 18/19 ===== |
| Video demo HSR | Video demo HSR |
| === Motivation and Goal=== | |
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| | The SUTURO RoboCup@Home project is organized through the CRC 1320 Everyday Activity Science and Engineering (<a href="https://ease-crc.org/"><b>EASE 🔗</b></a>). EASE is an interdisciplinary research center at the University of Bremen that investigates everyday activity science & engineering. Its core purpose is to advance the understanding of how human-scale manipulation tasks can be mastered by robotic agents. Within EASE, general software frameworks for robotic agents are created and further developped. These frameworks (CRAM, KNOWROB, GISKARD, and ROBOSHERLOCK) can also be applied to the RoboCup@Home context. There is further a substantial overlap in robot capabilities required to pass the RoboCup@Home challenges with what capabilities robots within EASE provide. SUTURO students will benefit from expertise acquired by EASE researchers through multiple years of experience in working with autonomous robots performing everyday activities, and will be geared up for potentially being future EASE researcher. We further expect to make the EASE software infrastructure more robust and flexible through the application in the RoboCup@Home domain. |
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| | ==== Motivation and Goal==== |
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| <div style="font-size:14px"> | <div style="font-size:14px" font-family:"Arial, sans-serif" text-align="justify"> |
| <b>Our goal</b>: We are participating in this years <b><a href="https://www.robocupgermanopen.de/en/major/athome">RoboCup@Home German Open</a></b>. <br>RoboCup@Home wants to provide a stage for service robots and the problems these robots can tackle, like interacting with humans and helping them in their everyday-life. In the cup, the participants have to perform different tests. The first test we try to accomplish is <i>"Storing Groceries"</i>. In this setup, the robot has to recognize objects which are provided on a table and then has to sort them in a shelf. The shelf itself will already have some objects inside of it and the robot must categories them so he can correctly place the objects from the table in it. Furthermore, one door of the shelf will be closed, so the robot has to either open it on its own or ask for help. To accomplish the test, the robot has to be able to : | <b>Our goal</b>: We are participating in this years <b><a href="https://www.robocupgermanopen.de/en/major/athome">RoboCup@Home German Open 🔗</a></b>. <br>RoboCup@Home wants to provide a stage for service robots and the problems these robots can tackle, like interacting with humans and helping them in their everyday-life. In the cup, the participants have to perform different tests. The first test we try to accomplish is <i>"Storing Groceries"</i>. In this setup, the robot has to recognize objects which are provided on a table and then has to sort them in a shelf. The shelf itself will already have some objects inside of it and the robot must categories them so he can correctly place the objects from the table in it. Furthermore, one door of the shelf will be closed, so the robot has to either open it on its own or ask for help. To accomplish the test, the robot has to be able to : |
| <ul style="list-style-type:square"> | <ul style="list-style-type:square"> |
| <li>Navigate between the table and shelf,</li> | <li>Navigate between the table and shelf,</li> |
| </div> | </div> |
| </html> | </html> |
| === Team === | ==== Team ==== |
| {{ :robocupfiles:toya01.jpg?nolink&150| Toya }} | {{ :robocupfiles:toya01.jpg?nolink&150| Toya }} |
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| <br> | <br> |
| | <div style="font-size:14px" font-family:"Arial, sans-serif"> |
| <p align="center" display="inline-block"> | <p align="center" display="inline-block"> |
| Alina Hawkin <br> hawkin[at]uni-bremen.de | Alina Hawkin <br> hawkin[at]uni-bremen.de |
| </p> | </p> |
| <br> | <br> |
| <br> | </div> |
| </html> | </html> |
| ===Methodology and implementation=== | ====Methodology and implementation==== |
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| <div display="inline-block"> | <div display="inline-block" style="font-size:14px" text-align="justify" font-family:"Arial, sans-serif"> |
| <p><b><u>Knowledge</u>:</b><br>To fulfill complex tasks a robot needs knowledge and memory of its environment. While the robot acts in its world, it recognizes objects and manipulaties them through pick-and-place tasks. With the use of KnowRob, a belief state provides episodic memory of the robot's experience, recording the robot's memory of each cognitive activity. Via ontologies objects can be classified and put into context, which enables logical reasoning over the environment and intelligent decision making. </p> | <p><b><u>Knowledge</u>:</b><br>To fulfill complex tasks a robot needs knowledge and memory of its environment. While the robot acts in its world, it recognizes objects and manipulaties them through pick-and-place tasks. With the use of KnowRob, a belief state provides episodic memory of the robot's experience, recording the robot's memory of each cognitive activity. Via ontologies objects can be classified and put into context, which enables logical reasoning over the environment and intelligent decision making. </p> |
| <p><b><u>Navigation</u>:</b><br> | <p><b><u>Navigation</u>:</b><br> |
| In order to perform the task, the robot needs to be able to autonomously and safely navigate within the world. This includes the generation of a representation of its surroundings as a 2D map, so that a path can be calculated to navigate the robot from point A to point B. Collision avoidance of objects which are not accounted for within the map, e.g. movable objects like chairs or people who cross the path of the robot, have to be accounted for and reacted to accordingly as well. The combination of all these aspects allows for a safe navigation of the robot within the environment. | In order to perform the task, the robot needs to be able to autonomously and safely navigate within the world. This includes the generation of a representation of its surroundings as a 2D map, so that a path can be calculated to navigate the robot from point A to point B. Collision avoidance of objects which are not accounted for within the map, e.g. movable objects like chairs or people who cross the path of the robot, have to be accounted for and reacted to accordingly as well. The combination of all these aspects allows for a safe navigation of the robot within the environment.<br> |
| <iframe width="560" height="315" src="https://www.youtube.com/embed/pdhZrSwF7dA" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> | <iframe width="560" height="315" src="https://www.youtube.com/embed/pdhZrSwF7dA" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> |
| </p> | </p> |
| </html> | </html> |
| |
| === Link to open source and research === | ==== Link to open source and research ==== |
| <html> | <html> |
| | <div style="font-size:14px" font-family:"Arial, sans-serif"> |
| <ul style="list-style-type:disc"> | <ul style="list-style-type:disc"> |
| <li><a href="https://github.com/Suturo1819">SUTURO 18/19</a></li> | <li><a href="https://github.com/Suturo1819">SUTURO 18/19</a></li> |
| <li><a href="https://github.com/SemRoCo/giskardpy">Giskardpy</a></li> | <li><a href="https://github.com/SemRoCo/giskardpy">Giskardpy</a></li> |
| <li><a href="https://github.com/code-iai">Code IAI</a></li> | <li><a href="https://github.com/code-iai">Code IAI</a></li> |
| | <li><a href="https://ease-crc.org/">EASE</a></li> |
| </ul> | </ul> |
| | </div> |
| </html> | </html> |
