Mobile manipulation through an assistive home robot

We present a mobile manipulation platform operated by a motor-impaired person using input from a head-tracker, single-button mouse. The platform is used to perform varied and unscripted manipulation tasks in a real home, combining navigation, perception and manipulation. The operator can make use of a wide range of interaction methods and tools, from direct tele-operation of the gripper or mobile base to autonomous sub-modules performing collision-free base navigation or arm motion planning. We describe the complete set of tools that enable the execution of complex tasks, and share the lessons learned from testing them in a real user's home. In the context of grasping, we show how the use of autonomous sub-modules improves performance in complex, cluttered environments, and compare the results to those obtained by novice, able-bodied users operating the same system.