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Mobile Manipulation and Mobility as Manipulation-Design and Algorithms of RoboSimian

Hebert, Paul and Bajracharya, Max and Ma, Jeremy and Hudson, Nicolas and Aydemir, Alper and Reid, Jason and Bergh, Charles and Borders, James and Frost, Matthew and Hagman, Michael and Leichty, John and Backes, Paul and Kennedy, Brett and Karplus, Paul and Satzinger, Brian and Byl, Katie and Shankar, Krishna and Burdick, Joel (2015) Mobile Manipulation and Mobility as Manipulation-Design and Algorithms of RoboSimian. Journal of Field Robotics, 32 (2). pp. 255-274. ISSN 1556-4959. https://resolver.caltech.edu/CaltechAUTHORS:20150327-072224795

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Abstract

This article presents the hardware design and software algorithms of RoboSimian, a statically stable quadrupedal robot capable of both dexterous manipulation and versatile mobility in difficult terrain. The robot has generalized limbs and hands capable of mobility and manipulation, along with almost fully hemispherical three-dimensional sensing with passive stereo cameras. The system is semiautonomous, enabling low-bandwidth, high latency control operated from a standard laptop. Because limbs are used for mobility and manipulation, a single unified mobile manipulation planner is used to generate autonomous behaviors, including walking, sitting, climbing, grasping, and manipulating. The remote operator interface is optimized to designate, parametrize, sequence, and preview behaviors, which are then executed by the robot. RoboSimian placed fifth in the DARPA Robotics Challenge Trials, demonstrating its ability to perform disaster recovery tasks in degraded human environments.


Item Type:Article
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1002/rob.21566DOIArticle
http://onlinelibrary.wiley.com/doi/10.1002/rob.21566/abstractPublisherArticle
http://onlinelibrary.wiley.com/doi/10.1002/rob.21566/suppinfoRelated ItemSupporting Information
Additional Information:© 2015 Wiley Periodicals, Inc. Received 9 March 2014; accepted 23 November 2014. Article first published online: 13 Feb 2015. The research described in this publication was carried out at the Jet Propulsion Laboratory, California Institute of Technology, with funding from the DARPA Robotics Challenge Track A program through an agreement with NASA.
Funders:
Funding AgencyGrant Number
NASA/JPL/CaltechUNSPECIFIED
DARPA Robotics Challenge Track-NASAUNSPECIFIED
Defense Advanced Research Projects Agency (DARPA)UNSPECIFIED
Issue or Number:2
Record Number:CaltechAUTHORS:20150327-072224795
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20150327-072224795
Official Citation:Hebert, P., Bajracharya, M., Ma, J., Hudson, N., Aydemir, A., Reid, J., Bergh, C., Borders, J., Frost, M., Hagman, M., Leichty, J., Backes, P., Kennedy, B., Karplus, P., Satzinger, B., Byl, K., Shankar, K. and Burdick, J. (2015), Mobile Manipulation and Mobility as Manipulation—Design and Algorithms of RoboSimian. J. Field Robotics, 32: 255–274. doi: 10.1002/rob.21566
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:56155
Collection:CaltechAUTHORS
Deposited By: Ruth Sustaita
Deposited On:27 Mar 2015 16:28
Last Modified:03 Oct 2019 08:11

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