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International Symposium on Experimental Robotics

ISER 2016: 2016 International Symposium on Experimental Robotics pp 254–265Cite as

A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments

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Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 1))

Abstract

Household manipulation presents a challenge to robots because it requires perceiving a variety of objects, planning multi-step motions, and recovering from failure. This paper presents practical techniques that improve performance in these areas by considering the complete system in the context of this specific domain. We validate these techniques on a table-clearing task that involves loading objects into a tray and transporting it. The results show that these techniques improve success rate and task completion time by incorporating expected real-world performance into the system design.

This work was sponsored in part by the Toyota Motor Corporation.

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Notes

  1. 1.

    https://www.personalrobotics.ri.cmu.edu/software.

  2. 2.

    Note, however, that these order critically depend on collision checking speed.

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Authors and Affiliations

  1. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Siddhartha S. Srinivasa, Aaron M. Johnson, Gilwoo Lee, Michael C. Koval, Shushman Choudhury, Jennifer E. King, Christopher M. Dellin, Matthew Harding, David T. Butterworth & Prasanna Velagapudi

  2. Toyota Motor Engineering & Manufacturing North America, San Jose, California, USA

    Allison Thackston

Authors
  1. Siddhartha S. Srinivasa
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  2. Aaron M. Johnson
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  3. Gilwoo Lee
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  4. Michael C. Koval
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  5. Shushman Choudhury
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  6. Jennifer E. King
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  7. Christopher M. Dellin
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  8. Matthew Harding
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  9. David T. Butterworth
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  10. Prasanna Velagapudi
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  11. Allison Thackston
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Corresponding authors

Correspondence to Siddhartha S. Srinivasa , Aaron M. Johnson or Gilwoo Lee .

Editor information

Editors and Affiliations

  1. Gra Sch of Info Sci&Tech,Dept of MechInf, The University of Tokyo Gra Sch of Info Sci&Tech,Dept of MechInf, Tokyo, Japan

    Dana Kulić

  2. Computer Science Department, Stanford University Computer Science Department, Stanford, California, USA

    Yoshihiko Nakamura

  3. Department of Electrical & Computer Engg, University of Waterloo Department of Electrical & Computer Engg, Waterloo, Ontario, Canada

    Oussama Khatib

  4. Department of Mechanical Systems Enginee, Tokyo University of Agriculture and Tech Department of Mechanical Systems Enginee, Tokyo, Japan

    Gentiane Venture

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Srinivasa, S.S. et al. (2017). A System for Multi-step Mobile Manipulation: Architecture, Algorithms, and Experiments. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_23

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  • DOI: https://doi.org/10.1007/978-3-319-50115-4_23

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-50114-7

  • Online ISBN: 978-3-319-50115-4

  • eBook Packages: EngineeringEngineering (R0)

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