2010 IEEE International Conference on Robotics and Automation :: Anchorage, Alaska, USA :: May 3 - 8, 2010
   

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Meeussen, Wim (Willow Garage inc.), Wise, Melonee (Willow Garage), Glaser, Stuart (Washington University in St. Louis), Chitta, Sachin (Willow Garage Inc.), McGann, Conor (Willow Garage), Mihelich, Patrick (Willow Garage), Marder-Eppstein, Eitan (Willow Garage), Muja, Marius Constantin (University of British Columbia), Eruhimov, Victor (Itseez Corp.), Foote, Tully (Willow Garage Inc.), hsu, john (Willow Garage), Rusu, Radu Bogdan (Willow Garage, Inc), Bhaskara, Willow Garage (120453), Gary, Stanford University and Willow Garage (105735), Kurt, Willow Garage (104144), Brian, Willow Garage (107963), Eric, Willow Garage ()

Autonomous Door Opening and Plugging in with a Personal Robot

Scheduled for presentation during the Regular Sessions "Personal and Service Robots" (TuD4), Tuesday, May 4, 2010, 14:50−15:05, Egan Center Lower Level Room 1

2010 IEEE International Conference on Robotics and Automation, May 3-8, 2010, Anchorage, Alaska, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Personal Robots, Mobile Manipulation, Computer Vision for Robotics and Automation

Abstract

We describe an autonomous robotic system capable of navigating through an office environment, opening doors along the way, and plugging itself into electrical outlets to recharge as needed. We demonstrate through extensive experimentation that our robot executes these tasks reliably, without requiring any modification to the environment. We present robust detection algorithms for doors, door handles, and electrical plugs and sockets, combining vision and laser sensors. We show how to overcome the unavoidable shortcoming of perception by integrating compliant control into manipulation motions. We present a visual-differencing approach to high-precision plug-insertion that avoids the need for high-precision hand-eye calibration.

 

 

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