HERB: a home exploring robotic butler

Siddhartha S. Srinivasa, Dave Ferguson, Casey J. Helfrich, Dmitry Berenson, Alvaro Collet, Rosen Diankov, Garratt Gallagher, Geoffrey Hollinger, James Kuffner, Michael Vande Weghe
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
more » ... manifolds. We also present numerous severe real-world test results from the integration of these algorithms into a single mobile manipulator.
doi:10.1007/s10514-009-9160-9 fatcat:yo25gfaotraqva7q5gyhymhss4