System integration of a daily assistive robot and its application to tidying and cleaning rooms

摘要

This paper describes a software system integration of daily assistive robots. Several tasks related to cleaning and tidying up rooms are focused on. Recognition and motion generation functions needed to perform daily assistance are developed, and these functions are used to design various behaviors involved in daily assistance. In our approach, the robot behaviours are divided into simple units which consist of 3 functions as check/plan/do, it provides us with high reusable and flexible development environment. Because sequential task execution can be achieved only after functions about failure detection and recovery, we also try to implement such functions in keeping with this approach. In addition to using simple behavior unit, multilayer error handling is effective. Experiments doing several daily tasks with handling daily tools showed the effectiveness of our system.