Autonomous Robots

, 28:5

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
Article

DOI: 10.1007/s10514-009-9160-9

Cite this article as:
Srinivasa, S.S., Ferguson, D., Helfrich, C.J. et al. Auton Robot (2010) 28: 5. doi:10.1007/s10514-009-9160-9
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Abstract

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.

Mobile manipulationPersonal roboticsRobotic manipulationComputer visionSearchNavigation

Copyright information

© Springer Science+Business Media, LLC 2009

Authors and Affiliations

  • Siddhartha S. Srinivasa
    • 1
  • Dave Ferguson
    • 1
  • Casey J. Helfrich
    • 1
  • Dmitry Berenson
    • 2
  • Alvaro Collet
    • 2
  • Rosen Diankov
    • 2
  • Garratt Gallagher
    • 2
  • Geoffrey Hollinger
    • 2
  • James Kuffner
    • 2
  • Michael Vande Weghe
    • 2
  1. 1.Intel Research PittsburghPittsburghUSA
  2. 2.The Robotics InstituteCarnegie Mellon UniversityPittsburghUSA