Mobile Manipulation for the HSR Intelligent Home Service Robot

With recent introduction of affordable sensors, motors, batteries and processors, as well as the major advancement in machine learning field, we now see a wide adoption of commercial service robots in various fields. However, service robots without manipulation capability are of limited use, as they cannot physically interact with the environment and require continual support of humans during the operation.In this paper, we describe how we implement the general purpose manipulation module for the Toyota HSR (Human Support Robot) platform, which includes the analytical forward and inverse kinematics of the HSR manipulator and corresponding motion planner for the arm to reach objects in various locations. Suggested manipulation module is implemented on the physical HSR platform and used at the World Robot Summit (WRS) 2018 international robotic competition with promising results.