{"id":793,"date":"2013-04-27T03:21:42","date_gmt":"2013-04-27T10:21:42","guid":{"rendered":"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=793"},"modified":"2014-04-23T21:08:33","modified_gmt":"2014-04-24T04:08:33","slug":"pr2-coffee-run","status":"publish","type":"page","link":"https:\/\/sr.stanford.edu\/?page_id=793","title":{"rendered":"PR2 Coffee Run"},"content":{"rendered":"<h2>Project Description<a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/wp-content\/uploads\/2013\/05\/pr2_coffee-1368046607520.jpg\"><img loading=\"lazy\" class=\"size-medium wp-image-1631 alignright\" alt=\"PR2 Coffee Run\" src=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/wp-content\/uploads\/2013\/05\/pr2_coffee-1368046607520-300x232.jpg\" width=\"300\" height=\"232\" srcset=\"https:\/\/sr.stanford.edu\/wp-content\/uploads\/2013\/05\/pr2_coffee-1368046607520-300x232.jpg 300w, https:\/\/sr.stanford.edu\/wp-content\/uploads\/2013\/05\/pr2_coffee-1368046607520-387x300.jpg 387w, https:\/\/sr.stanford.edu\/wp-content\/uploads\/2013\/05\/pr2_coffee-1368046607520.jpg 620w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/h2>\n<p>We developed an autonomous robotic system that safely navigates through an unmodified campus environment to purchase and deliver a cup of coffee. To accomplish this task, the robot navigates through indoor and outdoor environments, opens heavy spring-loaded doors, calls, enters, and exits an elevator, waits in line with other customers, interacts with coffee shop employees to purchase beverages, and returns to its original location to deliver the beverages. There were four main contributions: a robust infrastructure for unifying multiple 2D navigation maps; a process for detecting and opening transparent, heavy spring-loaded doors; algorithms for operating elevators; and software that enables the intuitive passing of objects to and from untrained humans.<\/p>\n<p><a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/icra_2013\/web_presentation.html\">Tony&#8217;s Presentation at the ICRA 2013 Conference<\/a><\/p>\n<p><a href=\"http:\/\/spectrum.ieee.org\/automaton\/robotics\/robotics-software\/pr2-robot-fetches-cup-of-coffee\">IEEE Spectrum Article<\/a><\/p>\n<p><a href=\"https:\/\/www.youtube.com\/watch?v=6pdQ5Gcsdjo\">LASER Talk &#8211; Public Lecture by Tony Pratkanis on the Coffee Run<\/a><\/p>\n<h4>Full Run YouTube Video<\/h4>\n<p><iframe loading=\"lazy\" width=\"560\" height=\"315\" src=\"https:\/\/www.youtube.com\/embed\/7d0cE46XNAM?si=QmOsXdOp8jtLk5-W\" title=\"YouTube video player\" frameborder=\"0\" allow=\"accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share\" referrerpolicy=\"strict-origin-when-cross-origin\" allowfullscreen><\/iframe><\/p>\n<h2>Related Publications<\/h2>\n<p>A. T. Pratkanis, A. E. Leeper, and J. K. Salisbury \u201cReplacing the Office Intern, Autonomous Coffee Run With a Mobile Manipulator\u201d<br \/>\nIEEE International Conference on Robotics and Automation, 2013, pp. 1248 &#8211; 1253<br \/>\n(<a href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/wp-content\/uploads\/2014\/04\/replacingtheofficeintern.pdf\">PDF<\/a>)<\/p>\n<h2>Project Staff<\/h2>\n<ul>\n<li><a title=\"Tony T. Pratkanis\" href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=1543\">Tony T. Pratkanis<\/a><\/li>\n<li><a title=\"Adam Leeper\" href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=659\">Adam Leeper<\/a><\/li>\n<li><a title=\"J. Kenneth Salisbury, Ph.D.\" href=\"http:\/\/www.stanford.edu\/group\/sailsbury_robotx\/cgi-bin\/salisbury_lab\/?page_id=1217\">J. Ken Salisbury<\/a><\/li>\n<\/ul>\n<h2>Status<\/h2>\n<p>Active since 2012.<\/p>\n<h2>Funding Sources<\/h2>\n<p>None.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>Project Description We developed an autonomous robotic system that safely navigates through an unmodified campus environment to purchase and deliver a cup of coffee. To accomplish this task, the robot navigates through indoor and outdoor environments, opens heavy spring-loaded doors, calls, enters, and exits an elevator, waits in line with other customers, interacts with coffee &hellip;<\/p>\n<p class=\"read-more\"> <a class=\"\" href=\"https:\/\/sr.stanford.edu\/?page_id=793\"> <span class=\"screen-reader-text\">PR2 Coffee Run<\/span> Read More &raquo;<\/a><\/p>\n","protected":false},"author":3,"featured_media":0,"parent":509,"menu_order":0,"comment_status":"open","ping_status":"open","template":"","meta":[],"_links":{"self":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/793"}],"collection":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/users\/3"}],"replies":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=793"}],"version-history":[{"count":18,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/793\/revisions"}],"predecessor-version":[{"id":2311,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/793\/revisions\/2311"}],"up":[{"embeddable":true,"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=\/wp\/v2\/pages\/509"}],"wp:attachment":[{"href":"https:\/\/sr.stanford.edu\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=793"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}