HERB 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home

作者：Srinivasa Siddhartha S^*; Berenson Dmitry; Cakmak Maya; Collet Alvaro; Dogar Mehmet R; Dragan Anca D; Knepper Ross A; Niemueller Tim; Strabala Kyle; Vande Weghe Mike; Ziegler Julius

来源：Proceedings of the IEEE, 2012, 100(8): 2410-2428.

DOI：10.1109/JPROC.2012.2200561

• Human-robot interaction
• mobile manipulation
• motion planning
• perception
• personal robotics
• trajectory optimization

We present the hardware design, software architecture, and core algorithms of HERB 2.0, a bimanual mobile manipulator developed at the Personal Robotics Lab at Carnegie Mellon University, Pittsburgh, PA. We have developed HERB 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments: that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of the lessons we learned from extensively testing our integrated platform in kitchen and office environments.

• 出版日期2012-8