The idea

Delivery Service with Mobile Manipulator (RB-KAIROS)

A demo to deliver Coke with mobile robots and manipulators

A demo to deliver Coke with mobile robots and manipulators

The process

Demo video with details

Demo video with details

📚 Task Sequence

1. Move to pick point
2. Recognize AR marker & Add shelf model
3. Detect target object
4. Pick target object
5. Move to place point
6. Place target object
7. Move to finish point

The description of each part

1. Task Planning

   • PDDL

     • Planning domain was defiend, including below items.

       1. types

          robot: The robot we're going to use

          object: The thing the robot needs to move

          point: The points where the robot stops to pick up and placing the target object

          position: Where the object is located and to be placed

       2. predicates

          at (robot) (point) : True if (robot) is at (point)

          handEmpty: True if (robot)’s hand is empty

          accessible (robot) (position): True if planning motion that (robot)’s end effector accesses to (position) is successful

          holding (robot) (object): True if (robot) is holding (object)

          on (object) (position): True if (object) is on (position)

          front (position) (point): True if (position) is in front of (point)

          found (object): True if the (object) is detected

       3. actions

          move: To command the robot to move

          pickplan: To plan the motion trajectories for picking up the object

          placeplan: To plan the motion trajectories for placing the object

          pick: To execute the trajectories planned by ‘pickplan’ action

          place: To execute the trajectories planned by ‘placeplan’ action

          detect: To execute the object detection part

     • Planning problem was defined like below.

       1. objects

          1. point

             start: The start point

             pickpoint: The point where robot picks up the target object

             placepoint: The point where robot places the target object

          2. object

             objA: The target object

          3. robot

             ur5e: The robot we use

          4. position

             ontable: The position where the target object is initially located

             onchair: The position where the target object will be placed

       2. init

          at ur5e start

          handEmpty

          front ontable pickpoint

          front onchair placepoint

          on objA ontable

       3. goal

          on objA onchair

          at ur5e start

          handEmpty

          found objA

   • ROSPlan Interface

     The priority of tasks is planned by ROSPlan.

     

     The interface connects ROSPlan to the necessary functions such as navigation, motion planning and recognition parts. Depending on the priority of the tasks, ‘action dispatch’ topic is published containing information about the task, and the interface subscribes it.