Toward fieldable human-scale mobile manipulation using RoMan

Chad C. Kessens; Jonathan Fink; Arnon Hurwitz; Matthew Kaplan; Philip R. Osteen; Trevor Rocks; John Rogers; Ethan Stump; Long Quang; Michael DiBlasi; Mark Gonzalez; Dilip Patel; Jaymit Patel; Shiyani Patel; Matthew Weiker; Joseph Bowkett; Renaud Detry; Sisir Karumanchi; Joel Burdick; Larry Matthies; Yash Oza; Aditya Agarwal; Andrew Dornbush; Maxim Likhachev; Karl Schmeckpeper; Kostas Daniilidis; Ajinkya Kamat; Sanjiban Choudhury; Aditya Mandalika; Siddhartha Srinivasa

doi:10.1117/12.2559995

23 April 2020 Toward fieldable human-scale mobile manipulation using RoMan

Chad C. Kessens, Jonathan Fink, Arnon Hurwitz, Matthew Kaplan, Philip R. Osteen, Trevor Rocks, John Rogers, Ethan Stump, Long Quang, Michael DiBlasi, Mark Gonzalez, Dilip Patel, Jaymit Patel, Shiyani Patel, Matthew Weiker, Joseph Bowkett, Renaud Detry, Sisir Karumanchi, Joel Burdick, Larry Matthies, Yash Oza, Aditya Agarwal, Andrew Dornbush, Maxim Likhachev, Karl Schmeckpeper, Kostas Daniilidis, Ajinkya Kamat, Sanjiban Choudhury, Aditya Mandalika, Siddhartha Srinivasa

Author Affiliations +

Proceedings Volume 11413, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II; 1141316 (2020) https://doi.org/10.1117/12.2559995
Event: SPIE Defense + Commercial Sensing, 2020, Online Only

Abstract

Robots are ideal surrogates for performing tasks that are dull, dirty, and dangerous. To fully achieve this ideal, a robotic teammate should be able to autonomously perform human-level tasks in unstructured environments where we do not want humans to go. In this paper, we take a step toward realizing that vision by introducing the integration of state of the art advancements in intelligence, perception, and manipulation on the RoMan (Robotic Manipulation) platform. RoMan is comprised of two 7 degree of freedom (DoF) limbs connected to a 1 DoF torso and mounted on a tracked base. Multiple lidars are used for navigation, and a stereo depth camera visualizes point clouds for grasping. Each limb has a 6 DoF force-torque sensor at the wrist, with a dexterous 3-finger gripper on one limb and a stronger 4-finger claw-like hand on the other. Tasks begin with an operator specifying a mission type, a desired final destination for the robot, and a general region where the robot should look for grasps. All other portions of the task are completed autonomously. This includes navigation, object identification and pose estimation (if the object is known) via deep learning or perception through search, fine maneuvering, grasp planning via grasp library, arm motion planning, and manipulation planning (e.g. dragging if the object is deemed too heavy to freely lift). Finally, we present initial test results on two notional tasks: clearing a road of debris such as a heavy tree or a pile of unknown light debris, and opening a hinged container to retrieve a bag inside it.

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Chad C. Kessens, Jonathan Fink, Arnon Hurwitz, Matthew Kaplan, Philip R. Osteen, Trevor Rocks, John Rogers, Ethan Stump, Long Quang, Michael DiBlasi, Mark Gonzalez, Dilip Patel, Jaymit Patel, Shiyani Patel, Matthew Weiker, Joseph Bowkett, Renaud Detry, Sisir Karumanchi, Joel Burdick, Larry Matthies, Yash Oza, Aditya Agarwal, Andrew Dornbush, Maxim Likhachev, Karl Schmeckpeper, Kostas Daniilidis, Ajinkya Kamat, Sanjiban Choudhury, Aditya Mandalika, and Siddhartha Srinivasa "Toward fieldable human-scale mobile manipulation using RoMan", Proc. SPIE 11413, Artificial Intelligence and Machine Learning for Multi-Domain Operations Applications II, 1141316 (23 April 2020); https://doi.org/10.1117/12.2559995

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