Imperial College London

DrPetarKormushev

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

+44 (0)20 7594 9235p.kormushev Website

 
 
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Location

 

25 Exhibition Road, 3rd floor, Dyson BuildingDyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Falck:2020:10.3389/frobt.2020.00066,
author = {Falck, F and Doshi, S and Tormento, M and Nersisyan, G and Smuts, N and Lingi, J and Rants, K and Saputra, RP and Wang, K and Kormushev, P},
doi = {10.3389/frobt.2020.00066},
journal = {Frontiers in Robotics and AI},
title = {Robot DE NIRO: a human-centered, autonomous, mobile research platform for cognitively-enhanced manipulation},
url = {http://dx.doi.org/10.3389/frobt.2020.00066},
volume = {A17},
year = {2020}
}

RIS format (EndNote, RefMan)

TY  - JOUR
AB - We introduceRobot DE NIRO, an autonomous, collaborative, humanoid robot for mobilemanipulation. We built DE NIRO to perform a wide variety of manipulation behaviors, with afocus on pick-and-place tasks. DE NIRO is designed to be used in a domestic environment,especially in support of caregivers working with the elderly. Given this design focus, DE NIRO caninteract naturally, reliably, and safely with humans, autonomously navigate through environmentson command, intelligently retrieve or move target objects, and avoid collisions efficiently. Wedescribe DE NIRO’s hardware and software, including an extensive vision sensor suite of 2Dand 3D LIDARs, a depth camera, and a 360-degree camera rig; two types of custom grippers;and a custom-built exoskeleton called DE VITO. We demonstrate DE NIRO’s manipulationcapabilities in three illustrative challenges: First, we have DE NIRO perform a fetch-an-objectchallenge. Next, we add more cognition to DE NIRO’s object recognition and grasping abilities,confronting it with small objects of unknown shape. Finally, we extend DE NIRO’s capabilitiesinto dual-arm manipulation of larger objects. We put particular emphasis on the features thatenable DE NIRO to interact safely and naturally with humans. Our contribution is in sharinghow a humanoid robot with complex capabilities can be designed and built quickly with off-the-shelf hardware and open-source software. Supplementary material including our code, adocumentation, videos and the CAD models of several hardware parts are openly availableavailable athttps://www.imperial.ac.uk/robot-intelligence/software/
AU - Falck,F
AU - Doshi,S
AU - Tormento,M
AU - Nersisyan,G
AU - Smuts,N
AU - Lingi,J
AU - Rants,K
AU - Saputra,RP
AU - Wang,K
AU - Kormushev,P
DO - 10.3389/frobt.2020.00066
PY - 2020///
SN - 2296-9144
TI - Robot DE NIRO: a human-centered, autonomous, mobile research platform for cognitively-enhanced manipulation
T2 - Frontiers in Robotics and AI
UR - http://dx.doi.org/10.3389/frobt.2020.00066
UR - http://kormushev.com/papers/Falck_Frontiers-2020.pdf
UR - http://hdl.handle.net/10044/1/79768
VL - A17
ER -