Team Tidyboy at the WRS 2020: a modular software framework for home service robots

Taewoong Kang; Dongwoon Song; Jae Bong Yi; Joonyoung Kim; Chung Yeon Lee; Youngjae Yoo; Minji Kim; Hyun Jun Jo; Byoung Tak Zhang; Jaebok Song; Seung Joon Yi

doi:10.1080/01691864.2022.2111229

Team Tidyboy at the WRS 2020: a modular software framework for home service robots

Taewoong Kang, Dongwoon Song, Jae Bong Yi, Joonyoung Kim, Chung Yeon Lee, Youngjae Yoo, Minji Kim, Hyun Jun Jo, Byoung Tak Zhang, Jaebok Song, Seung Joon Yi

School of Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This paper describes Team Tidyboy's approach to build a functional, robust, yet highly modular software framework for home service robots. Home service tasks require a number of software modules to work together, which includes verbal and nonverbal human robot interactions, 3D perception of known and unknown objects and manipulation of various objects using movement of both the manipulator and the base of the robot. World Robot Summit (WRS) 2020 Partner Robot Challenge (PRC) rule has raised the bar higher by asking for a reliable, long-term operation of such a system without human intervention. We present how we have overcome such challenges by robust software modules, repeated experiments in randomly initialized simulated environments, and finally introduction of various failure detection and recovery algorithms. Our software is successfully validated in RoboCup@Home 2021 and WRS 2020 PRC remote participation league, which led us to obtaining the first places in both competitions.

Original language	English
Pages (from-to)	836-849
Number of pages	14
Journal	Advanced Robotics
Volume	36
Issue number	17-18
DOIs	https://doi.org/10.1080/01691864.2022.2111229
Publication status	Published - 2022

Keywords

World robot summit 2020
home service robot
modular software framework

ASJC Scopus subject areas

Control and Systems Engineering
Software
Human-Computer Interaction
Hardware and Architecture
Computer Science Applications

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10.1080/01691864.2022.2111229

Cite this

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title = "Team Tidyboy at the WRS 2020: a modular software framework for home service robots",

abstract = "This paper describes Team Tidyboy's approach to build a functional, robust, yet highly modular software framework for home service robots. Home service tasks require a number of software modules to work together, which includes verbal and nonverbal human robot interactions, 3D perception of known and unknown objects and manipulation of various objects using movement of both the manipulator and the base of the robot. World Robot Summit (WRS) 2020 Partner Robot Challenge (PRC) rule has raised the bar higher by asking for a reliable, long-term operation of such a system without human intervention. We present how we have overcome such challenges by robust software modules, repeated experiments in randomly initialized simulated environments, and finally introduction of various failure detection and recovery algorithms. Our software is successfully validated in RoboCup@Home 2021 and WRS 2020 PRC remote participation league, which led us to obtaining the first places in both competitions.",

keywords = "World robot summit 2020, home service robot, modular software framework",

author = "Taewoong Kang and Dongwoon Song and Yi, {Jae Bong} and Joonyoung Kim and Lee, {Chung Yeon} and Youngjae Yoo and Minji Kim and Jo, {Hyun Jun} and Zhang, {Byoung Tak} and Jaebok Song and Yi, {Seung Joon}",

note = "Funding Information: This work was partially funded by Police-Lab 2.0 Program (www.kipot.or.kr) funded by the Ministry of Science and ICT, South Korea (MSIT) and KNPA (082021D48000000), IITP grant funded by (2021-0-01202), KIAT grant funded by the MOTIE (P0008473), IITP (2015-0-00310-SW.Star-Lab/25%, 2019-0-01371-BabyMind/25%, 2021-0-02068-AIHub/25%) grants, and the Center for Applied Research in Artificial Intelligence (UD190031RD/25%) grant funded by the Defence Acquisition Program Administration and the Agency for Defence Development. Publisher Copyright: {\textcopyright} 2022 Informa UK Limited, trading as Taylor & Francis Group and The Robotics Society of Japan.",

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doi = "10.1080/01691864.2022.2111229",

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AU - Yoo, Youngjae

AU - Kim, Minji

AU - Jo, Hyun Jun

AU - Zhang, Byoung Tak

AU - Song, Jaebok

AU - Yi, Seung Joon

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PY - 2022

Y1 - 2022

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Team Tidyboy at the WRS 2020: a modular software framework for home service robots

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Keywords

ASJC Scopus subject areas

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