, Volume 28, Issue 1, pp 5-20
Date: 17 Nov 2009

HERB: a home exploring robotic butler

Rent the article at a discount

Rent now

* Final gross prices may vary according to local VAT.

Get Access


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 manifolds. We also present numerous severe real-world test results from the integration of these algorithms into a single mobile manipulator.