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Robocup@Home 2021 Champion Team Paper: SSPL Winner Uchile Peppers

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RoboCup 2021: Robot World Cup XXIV (RoboCup 2021)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13132))

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Abstract

This paper summarizes the development and strategies used by the Uchile Peppers Team to become champions of the Robocup@Home Social Standard Platform League. First both vision and manipulation skills of the robot are analyzed. Next, the implementation of these modules to create the state machines that solve the tasks given is explained. Finally, a general conclusion about our development experience is given.

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References

  1. IEEE Robot Description page, HSR details. https://robots.ieee.org/robots/hsr/. Accessed 11 Oct 2021

  2. Japan Open 2020 details, RoboCup Japan. https://www.robocup.or.jp/japanopen2020b-en/news/Registration.html. Accessed 11 Oct 2021

  3. Robocup@Home Virtual 2021 rules. https://athome.robocup.org/home-virtual-2021/. Accessed 11 Oct 2021

  4. Calli, B., Singh, A., Walsman, A., Srinivasa, S., Abbeel, P., Dollar, A.M.: The YCB object and Model set: towards common benchmarks for manipulation research. In: 2015 International Conference on Advanced Robotics (ICAR), pp. 510–517 (2015). https://doi.org/10.1109/ICAR.2015.7251504

  5. PyTorch YOLOV5 implementation. https://pytorch.org/hub/ultralytics_yolov5/. Accessed 11 Oct 2021

  6. Redmon, J., Divvala, S., Girshick, R., Farhadi, A.: You only look once: unified, real-time object detection. In: 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp 779–788 (2016). https://doi.org/10.1109/CVPR.2016.91

  7. Ten Pas, A., Gualtieri, M., Saenko, K., Platt, R.W.: Grasp pose detection in point clouds. Int. J. Robot. Res. 36, 1455–1473 (2017)

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  8. https://github.com/atenpas/gpd

  9. https://github.com/atenpas/gpd_ros

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Acknowledgments

This research work was funded by Chile’s FONDECYT Project 1201170 and Chile’s ANID/PIA project AFB180004.

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Authors and Affiliations

  1. Advanced Mining Technology Center, Department of Electrical Engineering, Universidad de Chile, Santiago, Chile

    Javier Ruiz del Solar

  2. Robotics Laboratory, Department of Electrical Engineering, Universidad de Chile, Santiago, Chile

    Rodrigo Salas, Juan Pablo Cáceres, Eduardo Loayza, Fernando Feliú, Felipe Valenzuela & Javier Ruiz del Solar

Authors
  1. Rodrigo Salas
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  2. Juan Pablo Cáceres
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  3. Eduardo Loayza
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  4. Fernando Feliú
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  5. Felipe Valenzuela
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  6. Javier Ruiz del Solar
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Corresponding author

Correspondence to Rodrigo Salas .

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Editors and Affiliations

  1. LAAS-CNRS/ANITI, Toulouse, France

    Rachid Alami

  2. The University of Texas at Austin, Austin, TX, USA

    Joydeep Biswas

  3. University of Washington, Seattle, WA, USA

    Maya Cakmak

  4. Western Sydney University, Penrith, NSW, Australia

    Oliver Obst

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Salas, R., Cáceres, J.P., Loayza, E., Feliú, F., Valenzuela, F., del Solar, J.R. (2022). Robocup@Home 2021 Champion Team Paper: SSPL Winner Uchile Peppers. In: Alami, R., Biswas, J., Cakmak, M., Obst, O. (eds) RoboCup 2021: Robot World Cup XXIV. RoboCup 2021. Lecture Notes in Computer Science(), vol 13132. Springer, Cham. https://doi.org/10.1007/978-3-030-98682-7_22

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  • DOI: https://doi.org/10.1007/978-3-030-98682-7_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-98681-0

  • Online ISBN: 978-3-030-98682-7

  • eBook Packages: Computer ScienceComputer Science (R0)

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