Robot DE NIRO: A Human-Centered, Autonomous, Mobile Research Platform for Cognitively-Enhanced Manipulation

Area of Science:

• Robotics
• Human-Robot Interaction
• Artificial Intelligence

Background:

• The increasing need for domestic assistance, especially for the elderly, highlights the demand for advanced robotic solutions.
• Existing robots often lack the necessary capabilities for natural, safe, and versatile interaction in domestic environments.

Purpose of the Study:

• To introduce Robot DE NIRO, a novel autonomous, collaborative, humanoid robot for mobile manipulation.
• To detail the design, hardware, software, and capabilities of DE NIRO for domestic applications, focusing on elderly care support.
• To demonstrate the robot's ability to perform complex manipulation tasks, interact safely with humans, and navigate autonomously.

Main Methods:

• Development of a humanoid robot, DE NIRO, integrating an extensive sensor suite (2D/3D LIDAR, depth camera, 360-degree cameras).
• Implementation of custom grippers and a custom exoskeleton (DE VITO) for enhanced manipulation.
• Utilizing off-the-shelf hardware and open-source software for rapid development and accessibility.

Main Results:

• DE NIRO successfully performed pick-and-place tasks, object retrieval, and manipulation of objects with unknown shapes.
• Demonstrated advanced capabilities in autonomous navigation, collision avoidance, and natural, safe human interaction.
• Showcased dual-arm manipulation for larger objects, extending its versatility.

Conclusions:

• Robot DE NIRO offers a viable solution for domestic mobile manipulation, with significant potential in supporting caregivers for the elderly.
• The rapid development approach using readily available hardware and open-source software facilitates the creation of complex humanoid robots.
• Openly sharing the design, code, and documentation promotes further research and development in collaborative robotics.