Proprioceptive Localization for Mobile Manipulators

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


Download
  • Adobe portable document format (pdf) (3MB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

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",
}