Benchmarking mobile manipulation in everyday environments

摘要

In this paper, we discuss the RoboCup@Home league as a benchmark for service robot systems in everyday environments. The competition requires skills in mobile manipulation and human-robot interaction. Specifically, we detail the contributions of our team NimbRo, which won the RoboCup@Home competition in 2011. We demonstrated novel capabilities in the league such as real-time table-top segmentation, flexible grasp planning, real-time tracking of objects, and human-robot cooperative manipulation. We report on the experiences made with our robots at the competition.