The Robutler: a Vision-Controlled Hand-Arm System for Manipulating Bottles and Glasses

Abstract

We present an experimental service robot, a handarm system with anthropomorphic features as well as some capability for autonomous behavior. The system integrates lightweight construction principles of the arm and an articulated dexterous four-finger hand with real-time scene analysis by stereo vision, compliant torque control, and an intuitive man-machine interface. It thus comprises many of the key features required to realize the vision of a robotic servant that acts and interacts in a human environment. The task we consider here is manipulation of bottles and glasses as required for preparing and serving drinks. The purpose of this article is to provide a comprehensive view of the whole system, revealing the synergies between its components that lead to real-world performance within the addressed problem domain.