FVD RESULTS

SVD RESULTS

Spring validation demonstration

	Action	Demonstration	Requirements validated
1	User starts the TouRI robot app and selects a location to tour	Demonstrate user interaction with the app and the capability to receive location input from user within 5 seconds and generate the goal waypoint Condition for operation : > 100mbps broadband connectivity	MP3, MNF1
2	Based on the waypoint input, the navigation module generates a global path to the goal location	Demonstrate capability of the navigation module to generate the global path within 3 minutes	MP4
3	The robot detects static and dynamic obstacles and avoids them by following the obstacle avoidance trajectory genereated by the local planner	Demonstrate obstacle detection and avoidance by the robot with an mAP of 60% Condition for operation: For obstacles lying in the FOV of sensing modalities	MP5
4	Robot reaches the goal location	Demonstrate ability of the robot to reach the desired location with a speed of 0.4m/s during the traversal Condition for operation: Limited obstacles are present in the surroundings and a path exists for the robot to avoid obstacles and traverse ahead	MP1
5	The robot detects the object to grasp and estimates its grab point	Demonstrate object detecion with a precision of 70% and recall of 60% Condition for operation: For predefined set of objects in the environment and appropriate lighting	MP6
6	Based on the grab point input, the manipulation module plans the trajectory to grasp the object	Demonstrate the motion planning capability of the manipulation module to generate the trajectory within 3 minutes	MP7
7	The manipulator executes the planned trajectory	Demonstrate manipulator motion to grasp/pick up object	MP8
8	The manipulator grasps/places the object	Demonstrate manipulator capability to grasp/place object within 5 minutes, with 67% success rate	MP9
8	The standalone gimbal mount rotates the display device to view the surroundings	Demonstrate gimbal motion of 60 degree pitch and 120 degree yaw for display device	MP10
9	The app provides the video call interface between user and surroundings	Demonstrate 1080*720 resolution video call with a lag less than 2 seconds	MP11

Fall validation demonstration

	Action	Demonstration	Requirements validated
1	User starts the TouRI robot app	Demonstrate user-friendly app interface	MNF2
2	Based on the location input entered by the user in the app, goal waypoint for the location is generated and sent to the robot	Demonstrate integration between user interface and navigation modules
3	During autonomous traversal, the robot detects static and dynamic obstacles and avoids them by following the obstacle avoidance trajectory generated by the local planner	Demonstrate obstacle detection and avoidance by the robot with an mAP of 80% Condition for operation: For obstacles lying in the FOV of sensing modalities during autonomous traversal	MP5
4	The robot detects the object on reaching the desired location and estimates its grab point	Demonstrate object detection and the grab point estimation with a precision of 60% and recall of 70% Demonstrate integration between navigation and perception modules Condition for operation: For a predefined set of objects in the environment and appropriate lighting	MP6
5	The manipulator executes the planned trajectory to grasp/place the object	Demonstrate integration between perception and manipulation modules Demonstrate manipulator motion to grasp/place objects within 5 minutes with a 67% success rate (2 successful trails out of 3)	MP9
6	Robot successfully enters the desired room location	Demonstrate integration between user-interface, navigation, perception and manipulation modules for task execution in 30 minutes Condition for operation: Goal location in the operating area and 100m away from start location of the robot	MP2
7	On entering the desired room, robot accepts inputs from user for teleoperated traversal	Demonstrate integration between user interface and navigation modules	MP1
8	The robot retracts teleoperation control from user when obstacles are detected and transitions to autonomous mode . The robot detects and avoids static and dynamic obstacles by following the obstacle avoidance trajectory generated by the local planner	Demonstrate situational awareness Demonstrate obstacle detection and avoidance by the robot with an mAP of 80% Condition for operation: For obstacles lying in the FOV of sensing modalities during teleoperated traversal	MP5,MNF4
9	The gimbal mount integrated on the robot rotates the display device for user to view the surroundings	Demonstrate integration of gimbal platform with the robot Demonstrate natural interaction	MNF5
10	System level requirements	Demonstrate sub-system modularity with APIs	MNF3

Spring Validation Demonstration

Location: NSH Basement

Equipment: Hello Robot’s Stretch, gimbal mount, a display device, user device, operator computer, Wi-Fi network, objects for grasping, dynamic obstacles in the environment

Objective: Demonstrate that the user can teleoperate the robot and send location to the robot for the tour, autonomous navigation to the location, detection of pre-defined objects, autonomous grasping/placement of pre-defined objects, manually controlled gimbal motion.

Teleoperated and Autonomous Navigation and Manipulation test
1. Procedure:
  1. Teleoperate the robot to navigate to the desired location using the user interface.
  2. Teleoperate manipulator to grab/release pre-defined objects from defined locations.
  3. Place the robot at the start location on the map and observe robot localization.
  4. Send goal to the robot through the user interface and observe robot plan paths.
  5. Observe the robot autonomously navigate to the goal while avoiding obstacles.
  6. Set pre-defined goal poses for the manipulator to pick and place a pre-defined object.
  7. Observe the robot plan trajectories for the manipulator to reach goal poses.
  8. Observe the manipulator pick and place the object.
2. Validation:
  1. User is able to navigate the robot to a location and grab/place an object with end-effector. (M.P.R-1, M.P.R-3, M.P.R-9)
  2. Robot is able to localize within the map and plan global and local paths to the goal. (M.P.R-2, M.P.R-4)
  3. Robot can autonomously navigate to the goal with obstacle avoidance. (M.P.R-5)
  4. Manipulator is able to plan trajectories and grab/release the object stably. (M.P.R-8, M.P.R-3, M.P.R-9)
Object Detection Test
1. Procedure:
  1. Place the robot such that the predefined object(s) to be detected are visible.
  2. Observe the bounding boxes of the detected objects.
  3. Repeat steps with variations in object pose, ambient lighting and distance from the robot.
2. Validation:
  1. Pre-defined objects are detected in varying conditions. (M.P.R-6, M.P.R-7)
Hardware Gimbal Test
1. Procedure:
  1. Check the stability of the robot at maximum velocity with the gimbal and display mounted.
  2. Setup the gimbal and display workbench and manually send commands for motion.
  3. Observe the stability of the display during the gimbal motion.
  4. Observe gimbal actuation cut off when power supplied to it is insufficient.
2. Validation:
  1. Robot remains stable after the gimbal and the display have been mounted.
  2. The gimbal actuates as per the commands and display remains stable during motion. (M.P.R-10)
  3. Gimbal is not actuated when it receives low power.

Fall Validation Demonstration

Location: NSH Basement

Equipment: Hello Robot’s Stretch, gimbal mount, a display device, user device, operator computer, Wi-Fi network, objects for grasping, dynamic obstacles in the environment

Objective: Demonstrate that the user can teleoperate the robot and command the robot to autonomously navigate to the desired locations, detect and autonomously pick and place pre-defined objects, and manually control gimbal motion.

Navigation (autonomous and tele-operational) and gimbal control via the interface
1. Procedure:
  1. Place the robot at the start location on the map and observe robot localization.
  2. Send goal to the robot through the user interface and observe robot plan path.
  3. Observe the robot autonomously navigating to the goal while avoiding obstacles.
  4. Teleoperate the robot’s gimbal to the desired pitch and yaw using the user interface while the robot is navigating.
  5. Teleoperate the robot to navigate within the room using the user interface.
2. Validation:
  1. User can send commands to the robot and gimbal remotely. (M.P.R-3)
  2. Robot is able to localize within the map and plan global and local paths to the goal. (M.P.R-2, M.P.R-4)
  3. Robot is able to autonomously navigate to the goal with obstacle avoidance. (M.P.R-5)
  4. User is able to tele-operate the robot within the room and concurrently control the gimbal’s orientation. (M.P.R-1, M.P.R-10)
Autonomous and tele-operational pick and place of objects
1. Procedure:
  1. Teleoperate the robot to the location such that objects to be picked are in the field of view.
  2. Observe the robot detect the pickable objects in its field of view.
  3. Select an object to pick up from the table using the interface.
  4. Observe the robot map the environment with the objects in the field of view and localize itself in the map.
  5. Observe the robot detect the grab points of the selected object.
  6. Observe the robot plan a navigation and manipulation path to the desired object.
  7. Observe the robot autonomously pick-up the object from the table.
  8. Tele-operate the robot to desired drop location and select the drop location using the interface.
  9. Observe the robot detect the surface to place the object and autonomously place the object on the surface.
2. Validation:
  1. User can send commands to the robot remotely. (M.P.R-3)
  2. Robot is able to send a list of detected objects to the user. (M.P.R-6)
  3. Robot is able to estimate the grab points of the selected objects. (M.P.R-7)
  4. Robot is able to localize in 3D map and plan a path to the selected object. (M.P.R-8)
  5. Robot is able to successfully pick the object. (M.P.R-9)

Robot is able to detect the flat surface and place the object on it. (M.P.R-9)