TY - GEN
T1 - An integrated system for autonomous robotics manipulation
AU - Bagnell, J. Andrew
AU - Cavalcanti, Felipe
AU - Cui, Lei
AU - Galluzzo, Thomas
AU - Hebert, Martial
AU - Kazemi, Moslem
AU - Klingensmith, Matthew
AU - Libby, Jacqueline
AU - Liu, Tian Yu
AU - Pollard, Nancy
AU - Pivtoraiko, Mihail
AU - Valois, Jean Sebastien
AU - Zhu, Ranqi
PY - 2012
Y1 - 2012
N2 - We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with the logical structuring of tasks driven by a Behavior Tree architecture. The advantage of the implementation is to reduce the execution time while integrating advanced algorithms for autonomous manipulation. We describe our approach to 3-D perception, real-time planning, force compliant motions, and audio processing. Performance results for object grasping and complex manipulation tasks of in-house tests and of an independent evaluation team are presented.
AB - We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with the logical structuring of tasks driven by a Behavior Tree architecture. The advantage of the implementation is to reduce the execution time while integrating advanced algorithms for autonomous manipulation. We describe our approach to 3-D perception, real-time planning, force compliant motions, and audio processing. Performance results for object grasping and complex manipulation tasks of in-house tests and of an independent evaluation team are presented.
UR - http://www.scopus.com/inward/record.url?scp=84872291042&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872291042&partnerID=8YFLogxK
U2 - 10.1109/IROS.2012.6385888
DO - 10.1109/IROS.2012.6385888
M3 - Conference contribution
AN - SCOPUS:84872291042
SN - 9781467317375
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2955
EP - 2962
BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Y2 - 7 October 2012 through 12 October 2012
ER -