Journal
AUTONOMOUS ROBOTS
Volume 28, Issue 1, Pages 5-20Publisher
SPRINGER
DOI: 10.1007/s10514-009-9160-9
Keywords
Mobile manipulation; Personal robotics; Robotic manipulation; Computer vision; Search; Navigation
Funding
- National Science Foundation [EEC-0540865]
- Intel Summer Fellowship
- La Caixa Fellowship
- National Science Foundation Graduate Research Fellowship
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We describe the architecture, algorithms, and experiments with HERB, an autonomous mobile manipulator that performs useful manipulation tasks in the home. We present new algorithms for searching for objects, learning to navigate in cluttered dynamic indoor scenes, recognizing and registering objects accurately in high clutter using vision, manipulating doors and other constrained objects using caging grasps, grasp planning and execution in clutter, and manipulation on pose and torque constraint manifolds. We also present numerous severe real-world test results from the integration of these algorithms into a single mobile manipulator.
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