TOWARDS DESCRIBING AND DEPLOYING WHOLE-BODY GENERIC MANIPULATION BEHAVIOURS

This paper presents our current work on integrating three key components aiming at significantly increasing manipulation performance: namely, trajectory planning, whole-body sensor-based reactive control, and dynamic control into a newly developed modular, robot-independent and easily-reconfigurable software framework which allows reusing components to describe a variety of complex manipulation behaviours.

[1]  Geoffrey A. Hollinger,et al.  HERB: a home exploring robotic butler , 2010, Auton. Robots.

[2]  Malte Wirkus.  Towards Robot-independent Manipulation Behavior Description , 2014, ArXiv.

[3]  Allison M. Okamura,et al.  An overview of dexterous manipulation , 2000, Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065).

[4]  Maxim Likhachev,et al.  Planning for autonomous door opening with a mobile manipulator , 2010, 2010 IEEE International Conference on Robotics and Automation.

[5]  Alexander Fabisch,et al.  Towards Learning of Generic Skills for Robotic Manipulation , 2014, KI - Künstliche Intelligenz.

[6]  Miles C. Bowman,et al.  Control strategies in object manipulation tasks , 2006, Current Opinion in Neurobiology.

[7]  Joris De Schutter,et al.  iTASC: a tool for multi-sensor integration in robot manipulation , 2008, 2008 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems.

[8]  Florian Schmidt,et al.  Rollin' Justin - Design considerations and realization of a mobile platform for a humanoid upper body , 2009, 2009 IEEE International Conference on Robotics and Automation.

[9]  Siddhartha S. Srinivasa,et al.  Manipulation planning on constraint manifolds , 2009, 2009 IEEE International Conference on Robotics and Automation.

[10]  Lydia E. Kavraki,et al.  The Open Motion Planning Library , 2012, IEEE Robotics & Automation Magazine.

[11]  Oliver Brock,et al.  The UMass Mobile Manipulator UMan: An Experimental Platform for Autonomous Mobile Manipulation , 2006 .

[12]  Simon Lacroix,et al.  Managing plans: Integrating deliberation and reactive execution schemes , 2010, Robotics Auton. Syst..