The Robot Household Marathon Experiment
This work addresses the challenge of autonomous mobile manipulation in complex, unstructured human environments for robotics researchers, providing empirical results and insights into system limitations.
This paper presents an experiment to evaluate the scalability and robustness of mobile manipulation in a human household. The robot autonomously performed variations of mobile pick-and-place actions and container operations, demonstrating the system's ability to address these challenges.
In this paper, we present an experiment, designed to investigate and evaluate the scalability and the robustness aspects of mobile manipulation. The experiment involves performing variations of mobile pick and place actions and opening/closing environment containers in a human household. The robot is expected to act completely autonomously for extended periods of time. We discuss the scientific challenges raised by the experiment as well as present our robotic system that can address these challenges and successfully perform all the tasks of the experiment. We present empirical results and the lessons learned as well as discuss where we hit limitations.