An integrated system for autonomous robotics manipulation
We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Conference Paper |
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IEEE Press
2012
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| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/14608 |
| _version_ | 1848748668247605248 |
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| author | Bagnell, A Cavalcanti, F Cui, Lei Galluzzo, T |
| author2 | Nancy M. Amato |
| author_facet | Nancy M. Amato Bagnell, A Cavalcanti, F Cui, Lei Galluzzo, T |
| author_sort | Bagnell, A |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with the logical structuring of tasks driven by a Behavior Tree architecture. The advantage of the implementation is to reduce the execution time while integrating advanced algorithms for autonomous manipulation. We describe our approach to 3-D perception, real-time planning, force compliant motions, and audio processing. Performance results for object grasping and complex manipulation tasks of in-house tests and of an independent evaluation team are presented. |
| first_indexed | 2025-11-14T07:08:42Z |
| format | Conference Paper |
| id | curtin-20.500.11937-14608 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T07:08:42Z |
| publishDate | 2012 |
| publisher | IEEE Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-146082017-09-13T14:06:26Z An integrated system for autonomous robotics manipulation Bagnell, A Cavalcanti, F Cui, Lei Galluzzo, T Nancy M. Amato Robotics autonomous manipulation We describe the software components of a robotics system designed to autonomously grasp objects and perform dexterous manipulation tasks with only high-level supervision. The system is centered on the tight integration of several core functionalities, including perception, planning and control, with the logical structuring of tasks driven by a Behavior Tree architecture. The advantage of the implementation is to reduce the execution time while integrating advanced algorithms for autonomous manipulation. We describe our approach to 3-D perception, real-time planning, force compliant motions, and audio processing. Performance results for object grasping and complex manipulation tasks of in-house tests and of an independent evaluation team are presented. 2012 Conference Paper http://hdl.handle.net/20.500.11937/14608 10.1109/IROS.2012.6385888 IEEE Press fulltext |
| spellingShingle | Robotics autonomous manipulation Bagnell, A Cavalcanti, F Cui, Lei Galluzzo, T An integrated system for autonomous robotics manipulation |
| title | An integrated system for autonomous robotics manipulation |
| title_full | An integrated system for autonomous robotics manipulation |
| title_fullStr | An integrated system for autonomous robotics manipulation |
| title_full_unstemmed | An integrated system for autonomous robotics manipulation |
| title_short | An integrated system for autonomous robotics manipulation |
| title_sort | integrated system for autonomous robotics manipulation |
| topic | Robotics autonomous manipulation |
| url | http://hdl.handle.net/20.500.11937/14608 |