Tactile Servo Using Dynamic Tactile Jacobian Estimator Nowadays, a wide variety of service robots have been developed to assistant humans in performing tasks that are dull and repetitive, such as household chores. Tactile perception can play a critical role in a service robot to improve its performance. Thus, the robot control method with tactile perception, Tactile servo, was proposed. However, the common tactile servo cannot deal with the targets so generally and flexibly. To enhance the performance of the tactile servo, this study is to present an agile and versatile tactile servo by the dynamic tactile Jacobian estimator which can generate an adjustable tactile Jacobian instead of a fixed tactile Jacobian used in the common tactile servo. In the experimental validation, this research utilized the objects with different shapes for experimenting, and this research confirmed the feasibility of the tactile servo using the dynamic tactile Jacobian estimator in final. This paper explains the method and demonstrates the results.

Fast Perception, Planning, and Execution for a Robotic Butler: Wheeled Humanoid MHubo As the aging population grows at a rapid rate, there is an ever growing need for service robot platforms that can provide daily assistance at practical speed with reliable performance. In order to assist with daily tasks such as fetching a beverage, a service robot must be able to perceive its environment and generate corresponding motion trajectories. This becomes a challenging and computationally complex problem when the environment is unknown and thus the path planner must sample numerous trajectories that often are suboptimal, extending the execution time. To address this issue, we propose a unique strategy of integrating a 3D object detection pipeline with a kinematically optimal manipulation planner to significantly increase speed performance at runtime. In addition, we develop a new robotic butler system for a wheeled humanoid that is capable of fetching requested objects at 24% of the speed a human needs to fulfill the same task. The proposed system was evaluated and demonstrated in a realworld environment setup as well as in public exhibition.