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HERB: a home exploring robotic butler
2009
Autonomous Robots
We describe the architecture, algorithms, and experiments with HERB, an autonomous mobile manipulator that performs useful manipulation tasks in the home. We present new algorithms for searching for objects, learning to navigate in cluttered dynamic indoor scenes, recognizing and registering objects accurately in high clutter using vision, manipulating doors and other constrained objects using caging grasps, grasp planning and execution in clutter, and manipulation on pose and torque constraint
doi:10.1007/s10514-009-9160-9
fatcat:yo25gfaotraqva7q5gyhymhss4