2019 – TDP – CATIE Robotics – RoboCup@Home – Open Platform

This paper provides an overview of the CATIE Robotics Team’s activities for participating at the RoboCup@Home 2019 in Syndey. During the first year, the main objective is to build a solid base for years to come of service robotics developments. TIAGo, an off-the-shelf robotic platform was acquired. Safe and autonomous navigation is achieved by integrating ROS compatible components. Snips, an offline, free tool is used for both speech recognition and Natural Language Understanding. Siamese neural networks are used for face recognition and person tracking. Promising results are obtained. Our robot is able to navigate safely and avoid common obstacles. It is also able to answer limited questions. Offline we have reproduced state of the art performance for face detection and recognition. We also tested state of the art libraries for body pose estimation and object segmentation. Integration of these technologies is an ongoing task on TIAGo. An approach towards object manipulation is discussed.