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Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks

Domestic service tasks require three main skills from autonomous robots: robust navigation, mobile manipulation, and intuitive communication with the users. Most robot platforms, however, support only one or two of the above skills. In this paper we present Dynamaid, a new robot platform for research on domestic service applications. For robust navigation, Dynamaid has a base with four individually steerable differential wheel pairs, which allow omnidirectional motion. For mobile manipulation, Dynamaid is additionally equipped with two anthropomorphic arms that include a gripper, and with a trunk that can be lifted as well as twisted. For intuitive multimodal communication, the robot has a microphone, stereo cameras, and a movable head. Its humanoid upper body supports natural interaction. It can perceive persons in its environment, recognize and synthesize speech. We developed software for the tests of the RoboCup@Home competitions, which serve as benchmarks for domestic service robots. With Dynamaid and our communication robot Robotinho, our team Nimbro@Home took part in the RoboCup German Open 2009 and RoboCup 2009 competitions in which we came in second and third, respectively. We also won the innovation award for innovative robot design, empathic behaviors, and robot-robot cooperation.