MYRABot+: A feasible robotic system for interaction challenges

Abstract

This paper describes the development of a low cost robotic platform named MYRABot+, which is able to make the required tasks in order to assist a human in a domestic environment. We also believe that the best way to measure its performance and validate its behavior is taking part in a robotic challenge. This robotic platform explicitly uses low cost components, making it an accessible platform in monetary terms. In addition, we have designed a component-oriented software architecture that allows an easy implementation of simple HRI tasks. We demonstrate the feasibility of this proposal by taking part in the competition RoCKIn@home. There we show the basic abilities needed to work in a house environment, such as self-localization, navigation, human dialog, and object manipulation. Our goal is to be able to evaluate and to compare it with other robotic platforms.