Article

Autonomous Robots

, 28:5

First online:

HERB: a home exploring robotic butler

  • Siddhartha S. SrinivasaAffiliated withIntel Research Pittsburgh Email author 
  • , Dave FergusonAffiliated withIntel Research Pittsburgh
  • , Casey J. HelfrichAffiliated withIntel Research Pittsburgh
  • , Dmitry BerensonAffiliated withThe Robotics Institute, Carnegie Mellon University
  • , Alvaro ColletAffiliated withThe Robotics Institute, Carnegie Mellon University
  • , Rosen DiankovAffiliated withThe Robotics Institute, Carnegie Mellon University
  • , Garratt GallagherAffiliated withThe Robotics Institute, Carnegie Mellon University
  • , Geoffrey HollingerAffiliated withThe Robotics Institute, Carnegie Mellon University
  • , James KuffnerAffiliated withThe Robotics Institute, Carnegie Mellon University
    • , Michael Vande WegheAffiliated withThe Robotics Institute, Carnegie Mellon University

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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 manipulation Personal robotics Robotic manipulation Computer vision Search Navigation