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Autonomous Motion Planning forDaily Tasks in Human Environments using Multiple Collaborating Robots

Masayuki Inaba, Kei Okada, Rosen DiankovJSK Lab.Department of Mechano-InformaticsThe University of Tokyo

PR2 Beta Program Workshop2010/5/24 – 2010/5/28

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ROS/PR2

OpenHRP/RTM/HRP2Software platform for HRP2

humanoid

OpenRAVEAutomated manipulation

planninng environment

EusLispSoftware platform +20 yearsSolid model integrated

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JSK Robotics Lab

1980 1990 2000 2010

COSMOS:CognitiveSensorMotor Operation

Studies1981 H. Inoue

AssistiveHumanoid

2002 K. Okada

H6 & H7 Humanoid1999 S. Kagami,

K.Nishiwaki

Musculoskeletal2000 I. Mizuuchi

COSMOS: Lisp-based Robot System Integration Environment

Vision-Based Robotics: Manipulation, Interaction, Navigation

HARP: Humanoid Autonomous Robot Project H1-H7

Remote-Brained Robotics: about 60 robots

Sensor Suit Sensor Flesh

Musculoskeletal Humanoid

HRP2 Integration

Remote-Brained Robotics

1993M. Inaba

Sensor flesh robots2006 T. Yoshikai

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Daily assistive tasks of HRP2JSKHRP2JSK(2002-)Tasks generated based on humanoid motion planning technology

Tool manipulation Clean up In the kitchen Play ;-)

6Extending EusLisp systemw/ perception/dynamics

Torque aware planningConnecting task planning, motionplanning and vision base behaviors

Sensor skin

Movable object recognition and manipulation

Driving wheel chairs

Human-humanoid interaction integrating multiple cues

Human behavior observation

Whole body behavior generation

Soft fleshwith sensors

Dendon drivenrobtos

Learning to open doors

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Mechano-informatics departmentseminar for undergraduates

3-6 students, 4h/week, 2month

Volley ball

Catch and through ball

Sit on the chair

Chinese calligraphy

2005 seminar student & TAs

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Integration of ROS/EusLisp/OpenRAVE/OpenHRP

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Recognition, Planning, Action, Verification, Re-Planning….

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Thanks!Participants

Manabu Saito: service robotsRyohei Ueda : task planningYohei Kakiuchi : environment manipulationRosen Diankov : motion planningKei Okada : robotics system jsk-ros-pkg@sourceforge