System architecture for autonomous mobile manipulation of everyday objects in domestic environments

摘要

Assistive service robots have a great potential for helping elderly or motor-impaired people in everyday tasks. Specifically, enabling robots to manipulate objects in home environments is a critical step towards independent life. In this work, we focus on developing a complete system for autonomous mobile manipulation. We describe our system, which consists of natural language processing, perception, navigation, and integrated motion and grasp planning modules.