Robotic Roommates Shopping for and Preparing Bavarian Breakfast

In the first part of the video below, you can see TUM-James, a PR2 Beta Programm robot, and TUM-Rosie cooperatively preparing the traditional Bavarian Weisswurst Frühstück (Bavarian Sausage Breakfast). TUM-Rosie is collecting the sausages, putting them into the pot with boiling water, waiting for them to be cooked and, finally, finding and getting them out of the pot into the serving bowl. TUM-James is meanwhile slicing the french baguette using a regular electric bread slicer and in the end serving the sausages and the bread to the class of highly regarded roboticists. In the second part of the video, TUM-James is shown simulating the shopping task, bringing the groceries home and placing them to the places they are meant to be stored in. It uses 3D perception algorithms from PCL in order to detect object candidates in the storage rack and ODUfinder system to recognize them. Grasping and manipulation of the shopping basket is done using James’s haptic capabilities. Finally, to infer where do the objects belong to, TUM-James queries KnowRob system and computes the maximum WUP similarity (aka relatedness) to the other objects in the kitchen’s ontology. By Intelligent Autonomous Systems Group at Technische Universität München www.ias.cs.tum.edu See the long and annotated versions of the video here Breakfast-part: www.youtube.com Shopping-part: www.youtube.com Song: “Marbert Rocel: Cornflake Boy (Solomun Vocal Remix) (P) & © 2008, Compost Records Musik/ Text: Panthera Krause …
Video Rating: 4 / 5