Robots in the kitchen: Exploiting ubiquitous sensing and actuation

Our goal is to develop intelligent service robots that operate in standard human environments, automating common tasks. In pursuit of this goal, we follow the ubiquitous robotics paradigm, in which intelligent perception and control, are combined with ubiquitous computing. By exploiting sensors and effectors in its environment, a robot can perform more complex tasks without becoming overly complex itself. Following this insight, we have developed a service robot that operates autonomously in a sensor-equipped kitchen. The robot learns from demonstration, and performs sophisticated tasks, in concert with the network of devices in its environment. We report on the design, implementation, and usage of this system, which is freely available for use, and improvement by others, in the research community.