NDLI: Charlie Rides the Elevator -- Integrating Vision, Navigation and Manipulation towards Multi-floor Robot Locomotion

Content Provider	IEEE Xplore Digital Library
Author	Troniak, D. Sattar, J. Gupta, A. Little, J.J. Chan, W. Calisgan, E. Croft, E. Van der Loos, M.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., Univ. of British Columbia, Vancouver, BC, Canada (Chan, W.; Calisgan, E.; Croft, E.; Van der Loos, M.) \|\| Dept. of Comput. Sci., Univ. of British Columbia, Vancouver, BC, Canada (Troniak, D.; Sattar, J.; Gupta, A.; Little, J.J.)
Abstract	This paper presents the design, implementation and experimental evaluation of a semi-humanoid robotic system for autonomous multi-floor navigation. This robot, a Personal Robot 2 named Charlie, is capable of operating an elevator to travel between rooms located on separate floors. Our goal is to create a robotic assistant capable of locating points of interest, manipulating objects, and navigating between rooms in a multi-storied environment equipped with an elevator. Taking the elevator requires the robot to (1) map and localize within its operating environment, (2) navigate to an elevator door, (3) press the up or down elevator call button, (4) enter the elevator, (5) press the control button associated with the target floor, and (6) exit the elevator at the correct floor. To that end, this work integrates the advanced sensorimotor capabilities of the robot - laser range finders, stereo and monocular vision systems, and robotic arms - into a complete, task-driven autonomous system. While the design and implementation of individual sensorimotor processing components is a challenge in and of itself, complete integration in intelligent systems design often presents an even greater challenge. This paper presents our approach towards designing the individual components, with focus on machine vision, manipulation, and systems integration. We present and discuss quantitative results of our live robotic system, discuss difficulties faced and expose potential pitfalls.
Starting Page	1
Ending Page	8
File Size	3487484
Page Count	8
File Format	PDF
ISBN	9781467364096
e-ISBN	9780769549835
DOI	10.1109/CRV.2013.12
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-05-28
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Navigation Robot kinematics Service Robots Robot Elevator Operation Robot sensing systems Manipulators Robot Vision Multi-Floor Navigation Elevators Mobile robots Robotics
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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