Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments

Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason
Proceedings of ICRA 2010, May, 2010.


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Abstract
This paper describes a hierarchical planner deployed on a mobile manipulation system. The main idea is a two-level hierarchy combining a global planner which provides rough guidance to a local planner. We place a premium on fast response, so the global planner achieves speed by using a very rough approximation of the robot kinematics, and the local planner begins execution of the next action even without considering subsequent actions in detail, instead relying on the guidance of the global planner. The system exhibits few planning delays, and yet is surprisingly effective at planning collision free motions. The system is deployed on HERB [20], combining a Segway mobile platform, a WAM arm, and a Barrett hand. The navigation and manipulation components have been tested on the real robot, and the task of simultaneously approaching and grasping a bottle on a countertop was demonstrated in simulation.

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: 6

Text Reference
Ross Alan Knepper, Siddhartha Srinivasa, and Matthew T. Mason, "Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments ," Proceedings of ICRA 2010, May, 2010.

BibTeX Reference
@inproceedings{Knepper_2010_6557,
   author = "Ross Alan Knepper and Siddhartha Srinivasa and Matthew T. Mason",
   title = "Hierarchical Planning Architectures for Mobile Manipulation Tasks in Indoor Environments ",
   booktitle = "Proceedings of ICRA 2010",
   month = "May",
   year = "2010",
}