HERB: a home exploring robotic butler
Journal Article, Autonomous Robots: Special Issue: Autonomous Mobile Manipulation, Vol. 28, No. 1, 2010
Abstract
We describe the architecture, algorithms, and experiments with HERB, an autonomous mobile manipulator that performs useful manipulation tasks in the home. We present new algorithms for searching for objects, learning to navigate in cluttered dynamic indoor scenes, recognizing and registering objects accurately in high clutter using vision, manipulating doors and other constrained objects using caging grasps, grasp planning and execution in clutter, and manipulation on pose and torque constraint manifolds. We also present numerous severe real-world test results from the integration of these algorithms into a single mobile manipulator.
BibTeX
@article{Srinivasa-2010-10382,author = {Siddhartha Srinivasa and David Ferguson and Casey Helfrich and Dmitry Berenson and Alvaro Collet Romea and Rosen Diankov and Garratt Gallagher and Geoffrey Hollinger and James Kuffner and J. Michael Vande Weghe},
title = {HERB: a home exploring robotic butler},
journal = {Autonomous Robots: Special Issue: Autonomous Mobile Manipulation},
year = {2010},
month = {January},
volume = {28},
number = {1},
}
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