An integrated system for autonomous robotics manipulation

J. Andrew Bagnell, Felipe Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tian Yu Liu, Nancy Pollard, Mihail Pivtoraiko, Jean Sebastien Valois, Ranqi Zhu

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    95 Scopus citations

    Abstract

    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.

    Original languageEnglish
    Title of host publication2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
    Pages2955-2962
    Number of pages8
    DOIs
    StatePublished - 2012
    Event25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal
    Duration: 7 Oct 201212 Oct 2012

    Publication series

    NameIEEE International Conference on Intelligent Robots and Systems
    ISSN (Print)2153-0858
    ISSN (Electronic)2153-0866

    Conference

    Conference25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
    Country/TerritoryPortugal
    CityVilamoura, Algarve
    Period7/10/1212/10/12

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