HERB: A home exploring robotic butler

Autonomous Robots

Volumn 28, Issue 1, 2010, Pages 5-20

  Srinivasa, Siddhartha S ^a   Ferguson, Dave ^a   Helfrich, Casey J ^a   Berenson, Dmitry ^b   Collet, Alvaro ^b   Diankov, Rosen ^b   Gallagher, Garratt ^b   Hollinger, Geoffrey ^b   Kuffner, James ^b   Weghe, Michael Vande ^b  

^a INTEL CORPORATION   (United States)

^b CARNEGIE MELLON UNIVERSITY   (United States)

Author keywords

Computer vision; Mobile manipulation; Navigation; Personal robotics; Robotic manipulation; Search

Indexed keywords

AUTONOMOUS MOBILE MANIPULATOR; CAGING GRASPS; GRASP PLANNING; MANIPULATION TASK; MOBILE MANIPULATION; MOBILE MANIPULATOR; PERSONAL ROBOTICS; REAL-WORLD TESTS; ROBOTIC MANIPULATION; TORQUE CONSTRAINTS;

CLUTTER (INFORMATION THEORY); COMPUTER VISION; MANIPULATORS; NAVIGATION; ROBOTICS; ROBOTS;

LEARNING ALGORITHMS;

EID: 73549105214     PISSN: 09295593     EISSN: None     Source Type: Journal    
DOI: 10.1007/s10514-009-9160-9     Document Type: Article

References (44)

1. Beis, J. S., & Lowe, D. G. (1997). Shape indexing using approximate nearest-neighbour search in high-dimensional spaces. In Proc. IEEE conf. comp. vision patt. recog. (pp. 1000-1006).
2. Berenson, D., & Srinivasa, S. (2008). Grasp synthesis in cluttered environments for dexterous hands. In IEEE-RAS international conference on humanoid robots.
3. Berenson, D., Diankov, R., Nishiwaki, K., Kagami, S., & Kuffner, J. (2007). Grasp planning in complex scenes. In IEEE-RAS international conference on humanoid robots (Humanoids07).
4. Berenson, D., Srinivasa, S., Ferguson, D., Collet, A., & Kuffner, J. (2009a). Manipulation planning with workspace goal regions. In IEEE international conference on robotics and automation.
5. Berenson, D., Srinivasa, S., Ferguson, D., & Kuffner, J. (2009b). Manipulation planning on constraint manifolds. In IEEE international conference on robotics and automation.
6. Bradski, G., & Kaehler, A. (2008). Learning OpenCV: computer vision with the OpenCV library. New York: O'Reilly.
7. Canine Companions (2009). Canine companions for independence. http://www.cci.org.
8. Collet, A., Berenson, D., Srinivasa, S. S., & Ferguson, D. (2009). Object recognition and full pose registration from a single image for robotic manipulation. In IEEE international conference on robotics and automation.
9. Diankov, R., & Kuffner, J. (2007). Randomized statistical path planning. In IEEE/RSJ international conference on intelligent robots and systems.
10. Diankov, R., & Kuffner, J. (2008). Openrave: A planning architecture for autonomous robotics. Tech. Rep. CMU-RI-TR-08-34, Robotics Institute, Carnegie Mellon University.
11. Diankov, R., Srinivasa, S., Ferguson, D., & Kuffner, J. (2008). Manipulation planning with caging grasps. In IEEE-RAS international conference on humanoid robots.
12. Eaton, J. W. (2002). GNU Octave Manual. Network Theory Limited.
13. S. Ekvall D. Kragic F. Hoffmann 2005 Object recognition and pose estimation using color cooccurrence histograms and geometric modeling Image Vision Comput 23 11 943 955 10.1016/j.imavis.2005.05.006 (Pubitemid 41344178)
14. Exact Dynamics (2009). Arm: Assistive robotic manipulator. http://www.exactdynamics.nl.
15. Gallagher, G., Srinivasa, S., Bagnell, D., & Ferguson, D. (2009). An online approach to object detection, modeling and mapping for mobile robots. In Proc. int'l conf. robotics and automation.
16. Gordon, I., & Lowe, D. G. (2006). What and where: 3d object recognition with accurate pose. In Toward category-level object recognition (pp. 67-82).
17. Hahnel, D., Triebel, R., Burgard, W., & Thrun, S. (2003). Map building with mobile robots in dynamic environments. In Proc. int'l conf. robotics and automation.
18. Hollinger, G., Ferguson, D., Srinivasa, S., & Singh, S. (2009). Combining search and action for mobile robots. In Proc. int'l conf. robotics and automation.
19. IRobot (2009). Roomba. http://www.irobot.com.
20. Jain, A., & Kemp, C. C. (2008). Behaviors for robust door opening and doorway traversal with a force-sensing mobile manipulator. In Proceedings of the manipulation workshop in robotics science and systems.
21. Katz, D., & Brock, O. (2008). Manipulating articulated objects with interactive perception. In IEEE international conference on robotics and automation.
22. D. G. Lowe 2004 Distinctive image features from scale-invariant keypoints International Journal of Computer Vision 60 91 110 10.1023/B:VISI.0000029664. 99615.94
23. G. Loy A. Zelinsky 2003 Fast radial symmetry for detecting points of interest IEEE Transactions on Pattern Analysis and Machine Intelligence 25 8 959 973 10.1109/TPAMI.2003.1217601
24. Mendes, A., Bento, X., & Nunes, L. (2004). Multi-target detection and tracking with a laser scanner. In Intelligent vehicles symposium.
25. Mittrapiyanuruk, P., DeSouza, G. N., & Kak, A. C. (2004). Calculating the 3d-pose of rigid-objects using active appearance models. In IEEE international conference on robotics and automation (pp. 5147-5152). New York: IEEE.
26. Monkey Helpers (2009). Helping hands: Monkey helpers for the disabled. http://www.monkeyhelpers.org.
27. Montemerlo, M., & Thrun, S. (2002). Conditional particle filters for simultaneous mobile robot localization and people-tracking (slap). In Proc. int'l conf. robotics and automation.
28. Muller, A., Kirsch, A., & Beetz, M. (2007). Transformational planning for everyday activity. In 17th international conference on automated planning and scheduling (pp. 248-255).
29. Nguyen, H., Anderson, C., Trevor, A., Jain, A., Xu, Z., & Kemp, C. (2008). El-e: an assistive robot that fetches objects from flat surfaces. In Proc. human robot interaction, the robotics helpers workshop.
30. Pereira, G. A. S., Kumar, V., & Campos, M. F. M. (2002). Decentralized algorithms for multirobot manipulation via caging. In Proceedings of the workshop on the algorithmic foundations of robotics.
31. Prats, M., Sanz, P. J., & del Pobil, A. P. (2008). A sensor-based approach for physical interaction based on hand, grasp and task frames. In Proceedings of the manipulation workshop in robotics science and systems.
32. Quigley, M., Gerkey, B., Conley, K., Faust, J., Foote, T., Leibs, J., Berger, E., Wheeler, R., & Ng, A. (2009). (ros): an open-source robot operating system. In ICRA workshop on open source software in robotics.
33. Ray, C., Mondada, F., & Siegwart, R. (2001). What do people expect from robots? In Intelligent robots and systems, 2008 proceedings 2008 IEEE/RSJ international conference (pp. 3816-3821).
34. A. Saxena J. Driemeyer A. Ng 2008 Robotic grasping of novel objects using vision The International Journal of Robotics Research 27 2 157 173 10.1177/0278364907087172 (Pubitemid 351169712)
35. D. Schulz W. Burgard 2001 People tracking with a mobile robot using sample-based joint probabilistic data association filters Robotics and Autonomous Systems 34 2-3 107 115 1013.68254 10.1016/S0921-8890(00)00115-9 (Pubitemid 32875743)
36. D. Schulz W. Burgard D. Fox A. Cremers 2003 People tracking with a mobile robot using sample-based joint probabilistic data association filters The International Journal of Robotics Research 22 2 99 116 10.1177/ 0278364903022002002
37. Taylor, G., & Kleeman, L. (2003). Fusion of multimodal visual cues for modelbased object tracking. In Australasian conference on robotics and automation (ACRA2003), Brisbane, Australia.
38. The personal robotics project (2008). http://pr.willowgarage.com.
39. L. Vacchetti V. Lepetit P. Fua 2004 Stable real-time 3d tracking using online and offline information IEEE Transactions on Pattern Analysis and Machine Intelligence 26 10 1385 1391 10.1109/TPAMI.2004.92 10.1109/TPAMI.2004.92
40. Walter, J., & Arnrich, B. (2000). Gabor filters for object localization and robot grasping. In IEEE proceedings of the international conference on pattern recognition (p. 4124). Washington: IEEE Computer Society.
41. Wang, C. C., & Thorpe, C. (2002). Simultaneous localization and mapping with detection and tracking of moving objects. In Proc. int'l conf. robotics and automation.
42. Zerofrog (2008). Libsiftfast. http://sourceforge.net/projects/libsift.
43. Zhang, J., Schmidt, R., & Knoll, A. (1999). Appearance-based visual learning in a neuro-fuzzy model for fine-positioning of manipulators. In IEEE international conference on robotics and automation (p. 1164).
44. Zickler, S., & Veloso, M. (2006). Detection and localization of multiple objects. In Humanoid robots, 2006 6th IEEE-RAS international conference (pp. 20-25). doi: 10.1109/ICHR.2006.321358.