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Foundations of Robotics
Seminar, April 15, 2008
Time
and Place | Seminar Abstract
Mobile Manipulation for Household Tasks
Rosen Diankov
Smith Hall 100
Talk 4:30 pm
Mobile manipulation fundamentally deals with the synthesis of both
planning and sensing
algorithms. On the planning end, both navigation and manipulation
planning algorithms are necessary to get a robot to cleanup a house.
Although the goal of many robotics researchers is to create autonomous
platforms that can mimic the behaviors of a human like driving or
cleaning dishes, there has been few complete systems that can perform
complex manipulation tasks while considering base movement. This talk
will present several research thrusts in mobile manipulation dealing
with both the planning and sensing issues necessary to complete tasks
in unpredictable environments. The talk will also present a system
that can autonomously analyze an object's geometry, the robot's
kinematic capabilities, and the robot's grasping capabilities in order
to plan for any robot to go and pick up objects. Finally the talk will
cover several research thrusts and ideas to deal with sensing in 3D.
On the planning side, the talk will present a new planning algorithm
called BiSpace that extends the concept of Bi-directional RRTs to
growing trees in two different spaces, instead of just one. Such a
formulation is necessary in manipulation planning since the goal is
usually to firmly grasp an object. Since these types of goals can be
achieved by many possible configurations of the robot, researchers in
the past have chosen only a couple viable robot configurations to
insert into their planners. We will show how bidirectional search in
different spaces can really help to plan for a mobile robot while not
restricting the solution possibilities.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.