An Integrated System for Autonomous Robotics Manipulation

J. Andrew (Drew) Bagnell, Felipe Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tommy Liu, Nancy Pollard, Mikhail Pivtoraiko, Jean-Sebastien Valois, and Ranqi Zhu
IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012, pp. 2955-2962.


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Abstract
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.

Keywords
Autonomous Manipulation, System Integration

Notes
Sponsor: DARPA ARM-S Challenge
Associated Center(s) / Consortia: National Robotics Engineering Center

Text Reference
J. Andrew (Drew) Bagnell, Felipe Cavalcanti, Lei Cui, Thomas Galluzzo, Martial Hebert, Moslem Kazemi, Matthew Klingensmith, Jacqueline Libby, Tommy Liu, Nancy Pollard, Mikhail Pivtoraiko, Jean-Sebastien Valois, and Ranqi Zhu, "An Integrated System for Autonomous Robotics Manipulation," IEEE/RSJ International Conference on Intelligent Robots and Systems, October, 2012, pp. 2955-2962.

BibTeX Reference
@inproceedings{Bagnell_2012_7307,
   author = "J. Andrew (Drew) Bagnell and Felipe Cavalcanti and Lei Cui and Thomas Galluzzo and Martial Hebert and Moslem Kazemi and Matthew Klingensmith and Jacqueline Libby and Tian Yu Liu and Nancy Pollard and Mikhail Pivtoraiko and Jean-Sebastien Valois and Ranqi Zhu",
   title = "An Integrated System for Autonomous Robotics Manipulation",
   booktitle = "IEEE/RSJ International Conference on Intelligent Robots and Systems",
   pages = "2955-2962",
   month = "October",
   year = "2012",
}