HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home
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.
Invited paper to the Special Centennial Issue of Proc. IEEE.
BibTeX
@article{Srinivasa-2012-7533,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 Vande Weghe and Julius Ziegler},
title = {HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home},
journal = {Proceedings of the IEEE},
year = {2012},
month = {July},
volume = {100},
number = {8},
pages = {2410 - 2428},
keywords = {personal robotics, mobile manipulation, motion planning, perception, machine learning, trajectory optimization, navigation, human-robot interaction, pushing, physics-based manipulation, object recognition},
}