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 Kirchner, N., Alempijevic, A., Caraian, Sonja, Fitch, R., Hordern, D., Hu , G., Paul, G., Richards, David, Singh, S.P. & Webb, S.S. |
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RobotAssist - a platform for human robot interaction research
Proceedings of the 2010 Australasian Conference on Robotics & Automation, Dec, 2010
Presented at 2010 Australasian Conference on Robotics & Automation (ACRA 2010), Brisbane, Australia, 01 Dec. - 03 Dec. 2010
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Abstract
This paper presents RobotAssist, a robotic platform designed for use in human robot interaction research and for entry into 272654030c47240b075a3d1c competition. The core autonomy of the system is implemented as a component based software framework that allows for integration of operating system independent components, is designed to be expandable and integrates several layers of reasoning. The approaches taken to develop the core capabilities of the platform are described, namely: path planning in a social context, Simultaneous Localisation and Mapping (SLAM), human cue sensing and perception, manipulatable object detection and manipulation.
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