Title :
An integrated system for autonomous robotics manipulation
Author :
Bagnell, J. Andrew ; Cavalcanti, Felipe ; Cui, Lei ; Galluzzo, Thomas ; Hebert, Martial ; Kazemi, Moslem ; Klingensmith, Matthew ; Libby, Jacqueline ; Liu, Tian Yu ; Pollard, Nancy ; Pivtoraiko, Mihail ; Valois, Jean-Sebastien ; Zhu, Ranqi
Author_Institution :
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
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.
Keywords :
audio signal processing; control engineering computing; manipulators; mobile robots; path planning; 3D perception; audio processing; autonomous robotics manipulation; behavior tree architecture; control core functionality; dexterous manipulation tasks; execution time reduction; force compliant motions; integrated system; logical task structure; object grasping; perception core functionality; planning core functionality; real-time planning; robotics system designed; software components; Computer architecture; Grasping; Planning; Robot sensing systems; Software; Software algorithms;
Conference_Titel :
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location :
Vilamoura
Print_ISBN :
978-1-4673-1737-5
DOI :
10.1109/IROS.2012.6385888