Proprioceptive Localization for Mobile Manipulators - Robotics Institute Carnegie Mellon University

Proprioceptive Localization for Mobile Manipulators

Tech. Report, CMU-RI-TR-10-05, Robotics Institute, Carnegie Mellon University, February, 2010

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.

BibTeX

@techreport{Dogar-2010-10393,
author = {Mehmet Dogar and Vishal Hemrajani and Daniel Leeds and Breelyn Melissa Kane Styler and Siddhartha Srinivasa},
title = {Proprioceptive Localization for Mobile Manipulators},
year = {2010},
month = {February},
institute = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-10-05},
}