RoboCup @ Home
RoboCup @Home requires a wide range of functionalities, including not only basic capabilities for autonomous mobile robots, such as map creation and navigation, but also the ability to recognize people and objects, engage in human interaction, and perform trajectory planning for robotic arms. Additionally, system integration is essential to combine these functions and execute various tasks.
In 2022, we equipped a robot arm on the "Cuboid" platform, and in 2024, we participated in the competition with the "SOAR" model.
Information
What is RoboCup@Home?
RoboCup@Home is an international competition, held annually since 2006, that showcases technology for service robots designed to assist with daily life. The competition promotes technological innovation, focusing on autonomous operation in homes and public spaces.
For more information, please visit the official RoboCup@Home page.
https://athome.robocup.org/
Specifications
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Size : (h)1,360mm~1,820mm, (w)550mm, (d)650mm
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Weight : 91.65kg
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Operation time : About 45 minutes (actual measured value)
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Maximum speed : 3.0 km/h (measured value)
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Sensor configuration : 2D Lidar, IMU, Depth Camera, Microphone, Thermal Camera, Zoom Camera, LED lights
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Degree of freedom of the arm : 7
Motion planning method using natural language with ChatGPT
By generating an action sequence with ChatGPT based on the list of actions SOAR can perform, we enable the robot to interpret and execute non-standard commands provided through human interaction. Even for unconventional commands, the robot can understand the intent behind the instruction.
Command given: Get the milk from the coffee table
Action plan generated by ChatGPT:
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Move to the coffee table
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Detect the milk
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Grasp the milk
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Move to the location where the command was given
Feature analysis of people and objects using ChatGPT
In the "stickler for the rules" task, by providing ChatGPT with an image of the person being observed and a list of rules they are expected to follow, it can simultaneously determine which rules are being violated.
Example rules:
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Whether they have removed their shoes
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Whether they are holding a drink
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Whether they have discarded anything on the floor
4th place prize
We participated in "RoboCup 2024", Eindhoven, Netherlands, and achieved a 4th place finish.
Competition : RoboCup 2024
Date : July 15-22, 2024
Venue : Thailand (Bangkok)
League : RoboCup @ Home Open Platform League
Team name : Chief Scientist Office (SoftBank Corp., Japan)
