An integrated system for autonomous robotics manipulation

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...

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Bibliographic Details
Main Authors: Bagnell, J. A., Cavalcanti, F., Lei Cui, Galluzzo, T., Hebert, M., Kazemi, M., Klingensmith, M., Libby, J., Tian Yu Liu, Pollard, N., Pivtoraiko, M., Valois, J-S, Zhu, R.
Format: Conference Proceeding
Language:English
Subjects:
Computer architecture
Grasping
Planning
Robot sensing systems
Software
Software algorithms
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Description
Summary: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.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2012.6385888