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An integrated system for autonomous robotics manipulation

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Open access
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2012
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Conference Paper

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