Robotic agents representing, reasoning, and executing wiping tasks for daily household chores

Daniel Leidner, Wissam Bejjani, Alin Albu-Schäffer, Michael Beetz

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

29 Scopus citations

Abstract

Universal robotic agents are envisaged to perform a wide range of manipulation tasks in everyday environments. A common action observed in many household chores is wiping, such as the absorption of spilled water with a sponge, skimming breadcrumbs off the dining table, or collecting shards of a broken mug using a broom. To cope with this versatility, the agents have to represent the tasks on a high level of abstraction. In this work, we propose to represent the medium in wiping tasks (e.g. water, breadcrumbs, or shards) as generic particle distribution. This representation enables us to represent wiping tasks as the desired state change of the particles, which allows the agent to reason about the effects of wiping motions in a qualitative manner. Based on this, we develop three prototypical wiping actions for the generic tasks of absorbing, collecting and skimming. The Cartesian wiping motions are resolved to joint motions exploiting the free degree of freedom of the involved tool. Furthermore, the workspace of the robotic manipulators is used to reason about the reachability of wiping motions. We evaluate our methods in simulated scenarios, as well as in a real experiment with the robotic agent Rollin' Justin.

Original languageEnglish
Title of host publicationAAMAS 2016 - Proceedings of the 2016 International Conference on Autonomous Agents and Multiagent Systems
PublisherInternational Foundation for Autonomous Agents and Multiagent Systems (IFAAMAS)
Pages1006-1014
Number of pages9
ISBN (Electronic)9781450342391
StatePublished - 2016
Externally publishedYes
Event15th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2016 - Singapore, Singapore
Duration: 9 May 201613 May 2016

Publication series

NameProceedings of the International Joint Conference on Autonomous Agents and Multiagent Systems, AAMAS
ISSN (Print)1548-8403
ISSN (Electronic)1558-2914

Conference

Conference15th International Conference on Autonomous Agents and Multiagent Systems, AAMAS 2016
Country/TerritorySingapore
CitySingapore
Period9/05/1613/05/16

Keywords

  • Ai reasoning methods
  • Robotic manipulation planning
  • Service robotics
  • Task and effect representation

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