An integrated system for autonomous robotics manipulation

Bagnell, A; Cavalcanti, F; Cui, Lei; Galluzzo, T

doi:10.1109/IROS.2012.6385888

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Access Status

Open access

Authors

Bagnell, A

Cavalcanti, F

Cui, Lei

Galluzzo, T

Date

2012

Type

Conference Paper

Metadata

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Citation

Bagnell, J. A. and Cavalcanti, F. and Cui, Lei and Galluzzo, T. and Hebert, M. and Kazemi, M. and Klingensmith, M. and Libby, J. and Liu, Tian Yu and Pollard, N. and Pivtoraiko, M.l and Valois, J-S. and Zhu, R. An integrated system for autonomous robotics manipulation, in Amato, N.M. (ed), 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct 7-12 2012. Vilamoura, Algarve, Portugal: IEEE Press.

Source Title

Proceeding of the 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Source Conference

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

DOI

10.1109/IROS.2012.6385888

Remarks

© 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

URI

http://hdl.handle.net/20.500.11937/14608

Collection

Curtin Research Publications

Abstract

We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with the logical structuring of tasks driven by a Behavior Tree architecture. The advantage of the implementation is to reduce the execution time while integrating advanced algorithms for autonomous manipulation. We describe our approach to 3-D perception, real-time planning, force compliant motions, and audio processing. Performance results for object grasping and complex manipulation tasks of in-house tests and of an independent evaluation team are presented.