NimbRo@Home: Winning Team of the RoboCup@Home Competition 2012

摘要

In this paper we describe details of our winning team Nimb-Ro@Home at the RoboCup@Home competition 2012. This year we improved the gripper design of our robots and further advanced mobile manipulation capabilities such as object perception and manipulation planning. For human-robot interaction, we propose to complement face-to-face communication between user and robot with a remote user interface for handheld PCs. We report on the use of our approaches and the performance of our robots at RoboCup 2012.