Publications related to Fawkes

HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home

In Proceedings of the IEEE, Vol. 100, Issue 8, pp. 2410-2428

Authors: Siddhartha S. Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet, Mehmet R. Dogar, Anca D. Dragan, Ross A. Knepper, Tim Niemueller, Kyle Strabala, Mike Vande Weghe, Julius Ziegler
Type: Article in Journal
Publication Date: August 2012
Download: herb2-proc-ieee-2012-08.pdf
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Abstract: We present the hardware design, software architecture, and core algorithms of HERB 2.0, a bimanual mobile manipulator developed at the Personal Robotics Lab at Carnegie Mellon University. We have developed HERB 2.0 to perform useful tasks for and with people in human environments. We exploit two key paradigms in human environments, that they have structure that a robot can learn, adapt and exploit, and that they demand general-purpose capability in robotic systems. In this paper, we reveal some of the structure present in everyday environments that we have been able to harness for manipulation and interaction, comment on the particular challenges on working in human spaces, and describe some of our lessons learned from extensive testing in kitchens and offices with our integrated platform.

Notes: The Lua-based Behavior Engine from Fawkes was ported to ROS and HERB 2.0.

  title =	{{HERB 2.0: Lessons Learned from Developing a Mobile Manipulator for the Home}},
  author =	{Siddhartha S. Srinivasa and Dmitry Berenson and Maya Cakmak and Alvaro Collet and Mehmet R. Dogar and Anca D. Dragan and Ross A. Knepper and Tim Niemueller and Kyle Strabala and Mike Vande Weghe and Julius Ziegler},
  journal =	{Proceedings of the IEEE},
  year =	{2012},
  month =	{August},
  volume =	{100},
  series =	{8},
  pages =	{2410-2428},