Demonstrating Everyday Manipulation Skills in RoboCup@Home

The RoboCup@Home league is a benchmark for domestic service robot systems. It evaluates approaches to mobile manipulation and human-robot interaction by testing integrated systems. In this article, we detail the contributions of our team NimbRo, with which we won the RoboCup@Home competition in 2011. We demonstrated novel capabilities in the league such as real-time tabletop segmentation, flexible grasp planning, and real-time tracking of objects. We also describe our approach to human-robot cooperative manipulation using compliant control. We report on the use of our approaches and the performance of our robots at RoboCup 2011.