The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

We use a combination of laser data, measurements of joint angles and torques, and stall information to improve localization on a household robotic platform. Our system executes trajectories to collide with its environment and performs probabilistic updates on a distribution of possible robot positions, ordinarily provided by a laser range ﬁnder. We ﬁnd encouraging results both in simulations and in a real-world kitchen environment. Our analysis also suggests further steps in localization through proprioception.

Notes

Associated Center(s) / Consortia: Quality of Life Technology Center, National Robotics Engineering Center, and Center for the Foundations of Robotics

Associated Lab(s) / Group(s): Personal Robotics

Number of pages: 24

Text Reference

Mehmet Dogar, Vishal Hemrajani, Daniel Leeds, Breelyn Kane, and Siddhartha Srinivasa, "Proprioceptive Localization for Mobile Manipulators ," tech. report CMU-RI-TR-10-05, Robotics Institute, Carnegie Mellon University, February, 2010

BibTeX Reference

@techreport{Dogar_2010_6534,
   author = "Mehmet Dogar and Vishal Hemrajani and Daniel Leeds and Breelyn Kane and Siddhartha Srinivasa",
   title = "Proprioceptive Localization for Mobile Manipulators ",
   booktitle = "",
   institution = "Robotics Institute",
   month = "February",
   year = "2010",
   number= "CMU-RI-TR-10-05",
   address= "Pittsburgh, PA",
}

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