Tidying and Cleaning Rooms using a Daily Assistive Robot - An Integrated System for Doing Chores in the Real World -
Yamazaki Kimitoshi,
Ueda Ryohei,
Nozawa Shunichi,
Mori Yuto,
Maki Toshiaki,
Hatao Naotaka,
Okada Kei,
Inaba Masayuki
Affiliations
Yamazaki Kimitoshi
Department of Mechano - Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Ueda Ryohei
Department of Mechano - Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Nozawa Shunichi
Department of Mechano - Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Mori Yuto
Department of Mechano - Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Maki Toshiaki
Department of Mechano - Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Hatao Naotaka
Department of Mechano - Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Okada Kei
Department of Mechano - Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
Inaba Masayuki
Department of Mechano - Informatics, Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo, Japan
This paper describes a system integration of daily assistive robots. Several tasks related to cleaning and tidying up rooms are focused on. Recognition and motion generation functions were integrated onto the robot, and these provided failure detection and in some cases, its recovery. Experiments of several daily tasks handling daily tools showed the effectiveness of our system.
