An autonomous ice-cream serving robot

Author

Xue, Zhixing ; Ruehl, Steffen ; Hermann, Andreas ; Kerscher, Thilo ; Dillmann, Ruediger

Author_Institution

Forschungszentrum Inf., Karlsruhe, Germany

fYear

2011

fDate

9-13 May 2011

Firstpage

3451

Lastpage

3452

Abstract

An autonomous ice cream serving robot is presented in this video. The video was filmed during the Automatica 2010 trade fair in Munich. Within four days, approximately 250 scoops of different kinds of ice cream have been served to visitors during the fair. Using the KUKA light-weighted robotic arms and the DLR/HIT robotic hands, two scientific aspects are shown in this video: stable grasping of fragile objects and manipulation of cream-like mass using a time-of-flight camera. Impedance control are intensively used both by grasping and manipulation. The video shows an autonomous service robot scenario beyond simple fetch-and-carry chores.

Keywords

cameras; dexterous manipulators; grippers; robot vision; service robots; stability; Automatica 2010 trade fair; DLR-HIT robotic hands; KUKA light-weighted robotic arms; Munich; autonomous ice-cream serving robot; cream-like mass manipulation; fetch-and-carry chores; fragile objects; impedance control; stable grasping; time-of-flight camera; Grasping; Ice; Impedance; Joints; Planning; Robot sensing systems; grasp planning; manipulation planning; time-of-flight sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Conference_Location

Shanghai

ISSN

1050-4729

Print_ISBN

978-1-61284-386-5

Type

conf

DOI

10.1109/ICRA.2011.5980335

Filename

5980335