MANIPULATION
A distributed, any-time robot architecture for robust manipulation
Aaron Snoswell, Vektor Dewanto, Marcus Hoerger, Joshua Song, Hanna Kurniawati, Surya P. N. Singh
- Year
- 2018
- Citations
- 4
Abstract
We present a robot system architecture for a mobile manipulator to perform grasping and manipulation tasks robustly. The system is distributed across multiple computers allowing for online update rates while maintaining a reasonable planning horizon. We test this system architecture using the MOVO mobile manipulation platform from Kinova Robotics. The completed system was demonstrated with a robust manipulation task for over 70 hours at SIMPAR<br/>2018 and ICRA 2018, achieving a success rate ≈98%.
Keywords
RoboticsArchitectureComputer scienceMobile robotTask (project management)Artificial intelligenceRobotMobile manipulatorEngineeringSystems engineering
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