IEEE Robotics & Automation Magazine - June 2015 - 12
(a)
(b)
Figure 1. (a) An overview of the kitchen used in the competition and (b) a close-up of
the stove area.
groups would thus have the opportunity to test their algorithms. Then, in the
final competition, a standard platform
would be available for them. Onboard
computation was not enforced, but the
robot was required to operate in a fully
autonomous way, without human
intervention.
Although the setup was downsized to
the scale of the robots, it was realistic and
addressed challenging problems involving manipulation, grasping, and object
recognition under casual lighting conditions. In the HUMABOT Challenge scenario, the robot is an integral part of the
house and helps its occupants to have a
better quality of life. The robot was located in a kitchen corner (Figure 1) consisting of a kitchen module and a table. The
kitchen module comprised two lower
cupboards, a working surface in the middle, and a higher shelf with a microwave
oven. Due to the fact that the original
buttons to control the stove were too
small, a modification was made in the
stove control unit to install bigger switches for easier manipulation by the robots.
The location of the stove controls was the
same for all the robots. Although some
landmarks were used, the teams were
allowed to use extra landmarks in the furniture, but not in the objects.
Vision was a requirement for solving
the challenge, but off-the-shelf techniques could have been readily used.
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12
*
IEEE ROBOTICS & AUTOMATION MAGAZINE
*
JUNE 2015
Radius
Payload
Rotation
500 mm
19.7 ins
3 kg
6,6 lbs
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