Below is a list of all relevant publications authored by Robotics Forum members.


BibTex format

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 = {},
volume = {A17},
year = {2020}

RIS format (EndNote, RefMan)

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 at
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 -
UR -
UR -
VL - A17
ER -