A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments
Conference Paper, Proceedings of International Symposium on Experimental Robotics (ISER '16), pp. 254 - 265, October, 2016
Abstract
Household manipulation presents a challenge to robots be- cause it requires perceiving a variety of objects, planning multi-step motions, and recovering from failure. This paper presents practical techniques that improve performance in these areas by considering the complete system in the context of this specific domain. We validate these techniques on a table-clearing task that involves loading objects into a tray and transporting it. The results show that these techniques improve success rate and task completion time by incorporating expected real-world performance into the system design.
Notes
This work was sponsored in part by the Toyota Motor Corporation.
This work was sponsored in part by the Toyota Motor Corporation.
BibTeX
@conference{Srinivasa-2016-5607,author = {Siddhartha Srinivasa and Aaron M. Johnson and Gilwoo Lee and Michael Koval and Shushman Choudhury and Jennifer King and Christopher Dellin and Matthew Harding and David Butterworth and Prasanna Velagapudi and Allison Thackston},
title = {A System for Multi-Step Mobile Manipulation: Architecture, Algorithms, and Experiments},
booktitle = {Proceedings of International Symposium on Experimental Robotics (ISER '16)},
year = {2016},
month = {October},
editor = {Dana Kulic, Oussama Khatib, Yoshihiko Nakamura},
pages = {254 - 265},
publisher = {Springer},
address = {233 Spring Street, New York, NY 10013-1578 USA},
}
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.