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Model-based autonomous system for performing dexterous, human-level manipulation tasks

Hudson, Nicolas and Ma, Jeremy and Hebert, Paul and Jain, Abhinandan and Bajracharya, Max and Allen, Thomas and Sharan, Rangoli and Horowitz, Matanya and Kuo, Calvin and Howard, Thomas and Matthies, Larry and Backes, Paul and Burdick, Joel (2014) Model-based autonomous system for performing dexterous, human-level manipulation tasks. Autonomous Robots, 36 (1-2). pp. 31-49. ISSN 0929-5593. https://resolver.caltech.edu/CaltechAUTHORS:20140210-120753160

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Abstract

This article presents a model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation Software (ARM-S) program. Performing human-level manipulation tasks is achieved through a novel combination of perception in uncertain environments, precise tool use, forceful dual-arm planning and control, persistent environmental tracking, and task level verification. Deliberate interaction with the environment is incorporated into planning and control strategies, which, when coupled with world estimation, allows for refinement of models and precise manipulation. The system takes advantage of sensory feedback immediately with little open-loop execution, attempting true autonomous reasoning and multi-step sequencing that adapts in the face of changing and uncertain environments. A tire change scenario utilizing human tools, discussed throughout the article, is used to described the system approach. A second scenario of cutting a wire is also presented, and is used to illustrate system component reuse and generality.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1007/s10514-013-9371-yDOIArticle
http://link.springer.com/article/10.1007/s10514-013-9371-yPublisherArticle
http://rdcu.be/tDwuPublisherFree ReadCube access
Additional Information:© 2013 Springer Science+Business Media New York. Received: 1 March 2013; Accepted: 11 October 2013; Published online: 28 November 2013. The online version of this article (doi:10.1007/s10514-013-9371-y) contains supplementary material, which is available to authorized users. The research described in this publication was carried out at the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Autonomous Robotic Manipulation Software Track (ARM-S) program through an agreement with NASA.
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Subject Keywords:Autonomous; Manipulation; Estimation; Dual arm; Tool use; Task sequencing
Issue or Number:1-2
Record Number:CaltechAUTHORS:20140210-120753160
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20140210-120753160
Official Citation:Hudson, N., Ma, J., Hebert, P. et al. Auton Robot (2014) 36: 31. doi:10.1007/s10514-013-9371-y
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:43748
Collection:CaltechAUTHORS
Deposited By: Aucoeur Ngo
Deposited On:10 Feb 2014 21:07
Last Modified:03 Oct 2019 06:11

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