Paper Info
Title
Model-based autonomous system for performing dexterous, human-level manipulation tasks
Abstract
This article presents a model based approach to autonomous dexterous manipulation, developed as part of the DARPA Autonomous Robotic Manipulation Software (ARM-S) program. Performing human-level manipulation tasks is achieved through a novel combination of perception in uncertain environments, precise tool use, forceful dual-arm planning and control, persistent environmental tracking, and task level verification. Deliberate interaction with the environment is incorporated into planning and control strategies, which, when coupled with world estimation, allows for refinement of models and precise manipulation. The system takes advantage of sensory feedback immediately with little open-loop execution, attempting true autonomous reasoning and multi-step sequencing that adapts in the face of changing and uncertain environments. A tire change scenario utilizing human tools, discussed throughout the article, is used to described the system approach. A second scenario of cutting a wire is also presented, and is used to illustrate system component reuse and generality.
Year
DOI
Venue
2014
10.1007/s10514-013-9371-y
Auton. Robots
Keywords
Field
DocType
Autonomous,Manipulation,Estimation,Dual arm,Tool use,Task sequencing
Reuse,Simulation,Computer science,Software,Autonomous system (mathematics),Perception,Generality,Dexterous manipulation
Journal
Volume
Issue
ISSN
36
1-2
0929-5593
Citations 
PageRank 
References 
4
0.45
20
Authors
13
Name
Order
Citations
PageRank
Nicolas Hudson1755.06
Jeremy Ma21819.93
Paul Hebert3332.36
Abhinandan Jain49516.57
Max Bajracharya522418.15
Thomas Allen6616.49
Rangoli Sharan7132.07
Matanya B. Horowitz8464.79
Calvin Kuo950.81
Thomas Howard10255.09
Larry Matthies1129822.88
Paul Backes12719.26
Burdick, J.W.132988516.87