This video shows a mobile manipulation scenario of our robot Kate cleaning up a table. The scenario was developed at the Collaborative Center of Applied Research on Service Robotics (ZAFH Service Robotics) at the University of Applied Sciences Ulm in Germany. Variants of the scenario were used at the RoboCup@Home GermanOpens 2011 in Magdeburg.
The whole system is developed using the SmartSoft MDSD Toolchain. It is one example of how to build a complex system by composing already existing reusable software components. The orchestration of the components is done with SmartTCL. At runtime a task-tree is dynamically created and modified depending on situation and context. Symbolic task planners, like metric-ff, are used to extend or modify the SmartTCL task-tree at runtime.
The object recognition is based on a point cloud captured with a HOKUYO laser ranger mounted on the Katana manipulator. The trajectory planning is done with OpenRAVE which takes the mesh representation of the objects into account.