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Johnny: An Autonomous Service Robot for Domestic Environments

  • In this article we describe the architecture, algorithms and real-world benchmarks performed by Johnny Jackanapes, an autonomous service robot for domestic environments. Johnny serves as a research and development platform to explore, develop and integrate capabilities required for real-world domestic service applications. We present a control architecture which allows to cope with various and changing domestic service robot tasks. A software architecture supporting the rapid integration of functionality into a complete system is as well presented. Further, we describe novel and robust algorithms centered around multi-modal human robot interaction, semantic scene understanding and SLAM. Evaluation of the complete system has been performed during the last years in the RoboCup@Home competition where Johnnys outstanding performance led to successful participation. The results and lessons learned of these benchmarks are explained in more detail.

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Metadaten
Document Type:Article
Language:English
Parent Title (English):J Intell Robot Syst (Journal of Intelligent & Robotic Systems)
Volume:66
Issue:1-2
First Page:245
Last Page:272
ISSN:0921-0296
DOI:https://doi.org/10.1007/s10846-011-9608-y
Date of first publication:2011/07/28
Tag:Domestic service robots; Human robot interaction; Semantic scene understanding
Departments, institutes and facilities:Fachbereich Informatik
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2015/04/02