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System architecture for autonomous mobile manipulation of everyday objects in domestic environments

Authors:

Tarik Keleştemur,

Naoki Yokoyama,

Anas Abou Allaban,

Taşkin PadirAuthors Info & Claims

PETRA '19: Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments

Pages 264 - 269

https://doi.org/10.1145/3316782.3316797

Published: 05 June 2019 Publication History

Abstract

Assistive service robots have a great potential for helping elderly or motor-impaired people in everyday tasks. Specifically, enabling robots to manipulate objects in home environments is a critical step towards independent life. In this work, we focus on developing a complete system for autonomous mobile manipulation. We describe our system, which consists of natural language processing, perception, navigation, and integrated motion and grasp planning modules.

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Cited By

Jeon JJung HPico NLuong TMoon H(2024)Task-Motion Planning System for Socially Viable Service Robots Based on Object ManipulationBiomimetics10.3390/biomimetics90704369:7(436)Online publication date: 17-Jul-2024
https://doi.org/10.3390/biomimetics9070436
Yang XSayono JXu JLi JHester JZhang Y(2022)MiniKersProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/35502876:3(1-22)Online publication date: 7-Sep-2022
https://dl.acm.org/doi/10.1145/3550287
Arabi ALi JChen XKim J(2022)Mobiot: Augmenting Everyday Objects into Moving IoT Devices Using 3D Printed Attachments Generated by DemonstrationProceedings of the 2022 CHI Conference on Human Factors in Computing Systems10.1145/3491102.3517645(1-14)Online publication date: 29-Apr-2022
https://dl.acm.org/doi/10.1145/3491102.3517645
Show More Cited By

Index Terms

System architecture for autonomous mobile manipulation of everyday objects in domestic environments
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Robotics
      1. Robotic autonomy

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Published In

cover image ACM Other conferences

PETRA '19: Proceedings of the 12th ACM International Conference on PErvasive Technologies Related to Assistive Environments

June 2019

655 pages

ISBN:9781450362320

DOI:10.1145/3316782

Conference Chair:
Fillia Makedon
University of Texas at Arlington

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 05 June 2019

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PETRA '19

PETRA '19: The 12th PErvasive Technologies Related to Assistive Environments Conference

June 5 - 7, 2019

Rhodes, Greece

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Cited By

Jeon JJung HPico NLuong TMoon H(2024)Task-Motion Planning System for Socially Viable Service Robots Based on Object ManipulationBiomimetics10.3390/biomimetics90704369:7(436)Online publication date: 17-Jul-2024
https://doi.org/10.3390/biomimetics9070436
Yang XSayono JXu JLi JHester JZhang Y(2022)MiniKersProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/35502876:3(1-22)Online publication date: 7-Sep-2022
https://dl.acm.org/doi/10.1145/3550287
Arabi ALi JChen XKim J(2022)Mobiot: Augmenting Everyday Objects into Moving IoT Devices Using 3D Printed Attachments Generated by DemonstrationProceedings of the 2022 CHI Conference on Human Factors in Computing Systems10.1145/3491102.3517645(1-14)Online publication date: 29-Apr-2022
https://dl.acm.org/doi/10.1145/3491102.3517645
Wonsick MKelestemur TAlt SPadir T(2021)Telemanipulation via Virtual Reality Interfaces with Enhanced Environment Models2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS51168.2021.9636005(2999-3004)Online publication date: 27-Sep-2021
https://doi.org/10.1109/IROS51168.2021.9636005
Kazhoyan GStelter SKenfack FKoralewski SBeetz M(2021)The Robot Household Marathon Experiment2021 IEEE International Conference on Robotics and Automation (ICRA)10.1109/ICRA48506.2021.9560774(9382-9388)Online publication date: 30-May-2021
https://doi.org/10.1109/ICRA48506.2021.9560774
Yi JKang TSong DYi S(2020)Unified Software Platform for Intelligent Home Service RobotsApplied Sciences10.3390/app1017587410:17(5874)Online publication date: 25-Aug-2020
https://doi.org/10.3390/app10175874

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