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

doi:10.1109/IROS.2012.6385888

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

Department of Mechanical Engineering

Carnegie Mellon University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

98 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 language	English
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages	2955-2962
Number of pages	8
DOIs	https://doi.org/10.1109/IROS.2012.6385888
State	Published - 2012
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: 7 Oct 2012 → 12 Oct 2012

Publication series

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

Conference

Conference	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Country/Territory	Portugal
City	Vilamoura, Algarve
Period	7/10/12 → 12/10/12

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10.1109/IROS.2012.6385888

Cite this

Bagnell, J. A., Cavalcanti, F., Cui, L., Galluzzo, T., Hebert, M., Kazemi, M., Klingensmith, M., Libby, J., Liu, T. Y., Pollard, N., Pivtoraiko, M., Valois, J. S., & Zhu, R. (2012). An integrated system for autonomous robotics manipulation. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 2955-2962). Article 6385888 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6385888

@inproceedings{7f00112721ef437b91556594f274de96,

title = "An integrated system for autonomous robotics manipulation",

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.",

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

year = "2012",

doi = "10.1109/IROS.2012.6385888",

language = "English",

isbn = "9781467317375",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "2955--2962",

booktitle = "2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012",

note = "25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 ; Conference date: 07-10-2012 Through 12-10-2012",

}

Bagnell, JA, Cavalcanti, F, Cui, L, Galluzzo, T, Hebert, M, Kazemi, M, Klingensmith, M, Libby, J, Liu, TY, Pollard, N, Pivtoraiko, M, Valois, JS & Zhu, R 2012, An integrated system for autonomous robotics manipulation. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6385888, IEEE International Conference on Intelligent Robots and Systems, pp. 2955-2962, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6385888

An integrated system for autonomous robotics manipulation. / Bagnell, J. Andrew; Cavalcanti, Felipe; Cui, Lei et al.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 2955-2962 6385888 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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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

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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.

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ER -

An integrated system for autonomous robotics manipulation

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