Refilling Water Bottles in Elderly Care Homes With the Help of a Safe Service Robot
summary
A mobile service robot based on Care-O-bot 4 with added tiltable RGB-D sensors and F&P Robotics arms fetches, carries and returns bottles using 3D SLAM, plane-based table semantics, a two-stage detector trained on synthetic bottle renders, keypoint pose estimation, OMPL/MoveIt RRT planning and PID control. Offline bottle detection is 91% but drops in situ, a “shake-it-until-you-make-it” retry restores around 90% reliability, full exchanges take ~13 minutes, door passage and safety-field emergency stops remain frequent failure modes, and staff questionnaires show cautious acceptance.
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chapters (6)
- 0:00Start
- 1:53Robot Hardware and Safety Design
- 2:58Environment Model
- 3:45Object Perception
- 5:07Grasp Planning and Manipulation
- 7:30Lessons Learned
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