HERB: a home exploring robotic butler

  • Authors:

  • Siddhartha S. Srinivasa;Dave Ferguson;Casey J. Helfrich;Dmitry Berenson;Alvaro Collet;Rosen Diankov;Garratt Gallagher;Geoffrey Hollinger;James Kuffner;Michael Vande Weghe

  • Affiliations:

  • Intel Research Pittsburgh, Pittsburgh, USA 15213;Intel Research Pittsburgh, Pittsburgh, USA 15213;Intel Research Pittsburgh, Pittsburgh, USA 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA 15213;The Robotics Institute, Carnegie Mellon University, Pittsburgh, USA 15213

  • Venue:
  • Autonomous Robots
  • Year:
  • 2010

Quantified Score

Hi-index 0.00

Visualization

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.