2019, Volume 20, Issue 3
Frontiers of Information Technology & Electronic Engineering >> 2019, Volume 20, Issue 3 doi: 10.1631/FITEE.1900096
KeJia: towards an autonomous service robotwith tolerance of unexpected environmental changes
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Abstract
KeJia is a domestic service robot, consisting of a mobile base, an arm, two cameras, and a set of software components for perception, manipulation, natural language understanding, motion and task planning, and decision making. With on-line running of these functions, a robot can adapt to dynamic environments which may have unexpected changes. In this paper, we propose a novel hierarchical method which combines motion planning with a neural network, so that the robot can tolerate errors from sensors, wear of parts, and human disturbances during motion execution. We evaluate our work on KeJia that cooks popcorn using a microwave oven, where humans try to disturb KeJia during the operation.
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