ICS Research Seminar on: "Cooking Behavior with Handling General Cooking Tools based on a System Integration for a Life-sized Humanoid Robot"
ICS Research Seminar on: "Cooking Behavior with Handling General Cooking Tools based on a System Integration for a Life-sized Humanoid Robot" by Yoshiaki Watanabe Takenaka R & D Institute, Chiba, Japan + visiting researcher at Chair of Building Realization and Robotics, TUM
Abstract: I talk about system integration for a life-sized robot working in the kitchen. On cooking tasks, there should be various tools and foods, and the cooking table may have a reflective surface with blots and scratch. Recognition functions should be robust to noises derived from them. As other problems, cooking behaviors impose motion sequences by using whole-body of the robot. For instance, while cutting a vegetable, the robot has to hold one hand against the vegetable even if another hand with a knife should be moved for the cutting. This motion requires considering full articulation of the robot simultaneously. That is, there are difficulties against both recognition and motion generation. I propose recognition functions that are to detect kitchen tools such as containers and cutting boards. These functions can overcome the influence of reflective surface. I also propose the combination of shape model and knowledge about tasks. On the other hand, I pointed out the importance of the use of torso joints while dual arm manipulation. Our approach enables the robot to keep manipulability of both arms and viewing field of a head. Based on these products, I also introduce an integrated system incorporating recognition modules and motion generation modules. The effectiveness of the system was proven through some cooking applications.
11 May 2018, 10:00 h, ICS Karlstraße 45, 2. Floor, media room (2001)