HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home

Siddhartha Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet Romea, Mehmet Dogar, Anca Dragan, Ross Alan Knepper, Tim D. Niemueller, Kyle Strabala, J Michael Vandeweghe, and Julius Ziegler
Proceedings of the IEEE, Vol. 100, No. 8, July, 2012, pp. 1-19.


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Abstract
We present the hardware design, software architecture, and core algorithms of HERB 2.0, a bimanual mobile manipulator developed at the Personal Robotics Lab at Carnegie Mellon University. We have developed HERB 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments.

Keywords
personal robotics, mobile manipulation, motion planning, perception, machine learning, trajectory optimization, navigation, human-robot interaction, pushing, physics-based manipulation, object recognition

Notes
Sponsor: NSF, DARPA, Qolt, Intel, Caja Madrid, Fulbright, Karlsruhe House of Young Scientists
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: 19
Note: Invited paper to the Special Centennial Issue of Proc. IEEE.

Text Reference
Siddhartha Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet Romea, Mehmet Dogar, Anca Dragan, Ross Alan Knepper, Tim D. Niemueller, Kyle Strabala, J Michael Vandeweghe, and Julius Ziegler, "HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home," Proceedings of the IEEE, Vol. 100, No. 8, July, 2012, pp. 1-19.

BibTeX Reference
@article{Srinivasa_2012_7081,
   author = "Siddhartha Srinivasa and Dmitry Berenson and Maya Cakmak and Alvaro {Collet Romea} and Mehmet Dogar and Anca Dragan and Ross Alan Knepper and Tim D Niemueller and Kyle Strabala and J Michael Vandeweghe and Julius Ziegler",
   editor = "IEEE",
   title = "HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home",
   journal = "Proceedings of the IEEE",
   pages = "1-19",
   month = "July",
   year = "2012",
   volume = "100",
   number = "8",
   Notes = "Invited paper to the Special Centennial Issue of Proc. IEEE."
}