论文标题
在与不规则对象的限制和集成环境中进行移动多任务操纵
Towards Mobile Multi-Task Manipulation in a Confined and Integrated Environment with Irregular Objects
论文作者
论文摘要
fetchit！ 2019年5月在IEEE国际机器人和自动化国际会议上举行的移动操纵挑战，为一个环境提供了一个具有复杂且集成的任务集，不规则对象，限制空间和加工的环境，并在移动操纵域中引入了新的挑战。在这里，我们描述了我们通过在球童中展示机械部件的组装来解决这些挑战的努力。除了实施细节外，我们还广泛研究了此任务集中的问题，并讨论了我们的软件体系结构，以期为其他研究人员提供基础。为了评估性能和一致性，我们进行了20次完整跑步，然后检查了可能的解决方案的故障案例。我们通过确定未来的研究方向来解决公开挑战。
The FetchIt! Mobile Manipulation Challenge, held at the IEEE International Conference on Robots and Automation (ICRA) in May 2019, offered an environment with complex and integrated task sets, irregular objects, confined space, and machining, introducing new challenges in the mobile manipulation domain. Here we describe our efforts to address these challenges by demonstrating the assembly of a kit of mechanical parts in a caddy. In addition to implementation details, we examine the issues in this task set extensively, and we discuss our software architecture in the hope of providing a base for other researchers. To evaluate performance and consistency, we conducted 20 full runs, then examined failure cases with possible solutions. We conclude by identifying future research directions to address the open challenges.
