Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications

摘要

Tri glavne vještine koje se nameču autonomním robotima pri obavljanju kuóanskih zadataka su: robusna navigacija, manipulacija objektima te intuitivná komunikacija s korisnicima. Večina robotskih platformi podržava samo jednu ili dvije od navedenih vještina.U ovome se článku predstavlja robotska platforma Dynamaid za istraživanje uslužnih djelatnosti u kuóanstvima. U svrhu robusne navigacije, Dynamaid ima bazu s četiri zasebno upravljiva diferencijalna pogona, što omoguóava svesmjerno gibanje. U svrhu manipulacije, Dynamaid je dodatno opremljen s dvije antropomorfhe robotske ruke s hvataljkom te tijelom koje se može zakretati I dizati. Za intuitivnu višenamjensku komunikaciju, robot sadrži mikrofon, stereo kameru te pokretnu glavu. Njegovo čovjekoliko tijelo podržava prirodnu interakciju. Robot ima sposobnost uočavanja ljudi u svom okruženju, prepoznavanja I sínteze govora.Razvijen je software za sudjelovanje na RoboCup@Home natjecanjima, koja služe kao referenta mjera za kucanske úslužné robote. Naša grupa, Nimbro@Home, sudjelovala je s Dynamaidom I našim robotom za komunikaciju, Robotinhom, na natjecanjima RoboCup German Open 2009 I RoboCup 2009, gdje srno osvojili drugo I treče mjesto. Takošer smo dobili nagradu za inovativan dizajn robota, empatičko ponašanje te robot-robot suradnju.%Domestic tasks require three main skills from autonomous robots: robust navigation, object manipulation, and intuitive communication with the users. Most robot platforms, however, support only one or two of the above skills.In this paper we present Dynaraaid, a robot platform for research on domestic Service applications. For robust navigation, Dynamaid has a base with four individually steerable differential wheel pairs, which allow omnidirec-tional motion. For mobile manipulation, Dynamaid is additionally equipped with two anthropomorphic arms that include a gripper, and with a trunk that can be lifted as well as twisted. For intuitive multimodal communication, the robot has a microphone, Stereo Cameras, and a movable head. Its humanoid upper body Supports natural interaction. It can perceive persons in its environment, recognize and synthesize speech.We developed Software for the tests of the RoboCup@Home competitions, which serve as benchmarks for domestic Service robots. With Dynamaid and our communication robot Robotinho, our team Nimbro@Home took part in the RoboCup German Open 2009 and RoboCup 2009 competitions in which we came in second and third, respectively. We also won the innovation award for innovative robot design, empathic behaviors, and robot-robot cooperation.